MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

9.9s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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

31 pass54 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	43.0s	273 warnings · 280 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 3.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781130425.44728398 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun might occur, Total time : 1684.068 us (Expected < 1666.667 us) --> Read time : 173.264 us, Update time : 52.451 us, Write time : 1458.353 us + 7.11sWARNros2_control_nodeOverrun might occur, Total time : 1684.068 us (Expected < 1666.667 us) --> Read time : 173.264 us, Update time : 52.451 us, Write time : 1458.353 us[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.15sINFOros2_control_node[2026-06-10 22:27:08.754] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-06-10 22:27:08.754] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934346 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934346 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun might occur, Total time : 3768.486 us (Expected < 1666.667 us) --> Read time : 222.975 us, Update time : 139.643 us, Write time : 3405.868 us + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273644 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun might occur, Total time : 3768.486 us (Expected < 1666.667 us) --> Read time : 222.975 us, Update time : 139.643 us, Write time : 3405.868 us[0m ×2 + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273644 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868339 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868339 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun might occur, Total time : 2305.752 us (Expected < 1666.667 us) --> Read time : 326.867 us, Update time : 600.634 us, Write time : 1378.251 us + 9.35sWARNros2_control_nodeOverrun might occur, Total time : 2305.752 us (Expected < 1666.667 us) --> Read time : 326.867 us, Update time : 600.634 us, Write time : 1378.251 us[0m ×2 + 10.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.35sINFOros2_control_node[2026-06-10 22:27:11.950] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-06-10 22:27:11.950] [info] Accepted new action goal ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099970 ms (missed cycles : 5). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099970 ms (missed cycles : 5).[0m ×2 + 10.61sWARNcontroller_managerOverrun might occur, Total time : 1682.058 us (Expected < 1666.667 us) --> Read time : 397.809 us, Update time : 63.962 us, Write time : 1220.287 us + 10.61sWARNros2_control_nodeOverrun might occur, Total time : 1682.058 us (Expected < 1666.667 us) --> Read time : 397.809 us, Update time : 63.962 us, Write time : 1220.287 us[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768329 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768329 ms (missed cycles : 3).[0m ×2 + 11.76sWARNcontroller_managerOverrun might occur, Total time : 2225.131 us (Expected < 1666.667 us) --> Read time : 202.675 us, Update time : 1568.535 us, Write time : 453.921 us + 11.77sWARNros2_control_nodeOverrun might occur, Total time : 2225.131 us (Expected < 1666.667 us) --> Read time : 202.675 us, Update time : 1568.535 us, Write time : 453.921 us[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150463 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150463 ms (missed cycles : 3).[0m ×2 + 12.78sWARNcontroller_managerOverrun might occur, Total time : 1868.333 us (Expected < 1666.667 us) --> Read time : 196.255 us, Update time : 455.840 us, Write time : 1216.238 us + 12.79sWARNros2_control_nodeOverrun might occur, Total time : 1868.333 us (Expected < 1666.667 us) --> Read time : 196.255 us, Update time : 455.840 us, Write time : 1216.238 us[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.39sINFOros2_control_node[2026-06-10 22:27:14.988] [info] Received new action goal ×2 + 13.39sINFOros2_control_node[2026-06-10 22:27:14.988] [info] Accepted new action goal ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117985 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117985 ms (missed cycles : 2).[0m ×2 + 13.94sWARNcontroller_managerOverrun might occur, Total time : 2068.286 us (Expected < 1666.667 us) --> Read time : 231.925 us, Update time : 786.408 us, Write time : 1049.953 us + 13.94sWARNros2_control_nodeOverrun might occur, Total time : 2068.286 us (Expected < 1666.667 us) --> Read time : 231.925 us, Update time : 786.408 us, Write time : 1049.953 us[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676636 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676636 ms (missed cycles : 2).[0m ×2 + 14.99sWARNcontroller_managerOverrun might occur, Total time : 2900.616 us (Expected < 1666.667 us) --> Read time : 2356.824 us, Update time : 93.172 us, Write time : 450.620 us + 14.99sWARNros2_control_nodeOverrun might occur, Total time : 2900.616 us (Expected < 1666.667 us) --> Read time : 2356.824 us, Update time : 93.172 us, Write time : 450.620 us[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064654 ms (missed cycles : 5). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064654 ms (missed cycles : 5).[0m ×2 + 16.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.35sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 16.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 16.44sWARNcontroller_managerOverrun might occur, Total time : 4392.600 us (Expected < 1666.667 us) --> Read time : 224.856 us, Update time : 3665.822 us, Write time : 501.922 us + 16.44sWARNros2_control_nodeOverrun might occur, Total time : 4392.600 us (Expected < 1666.667 us) --> Read time : 224.856 us, Update time : 3665.822 us, Write time : 501.922 us[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597970 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597970 ms (missed cycles : 3).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153378 ms (missed cycles : 5). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153378 ms (missed cycles : 5).[0m ×2 + 17.59sWARNcontroller_managerOverrun might occur, Total time : 3214.783 us (Expected < 1666.667 us) --> Read time : 173.934 us, Update time : 2501.787 us, Write time : 539.062 us + 17.59sWARNros2_control_nodeOverrun might occur, Total time : 3214.783 us (Expected < 1666.667 us) --> Read time : 173.934 us, Update time : 2501.787 us, Write time : 539.062 us[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893568 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893568 ms (missed cycles : 2).[0m ×2 + 18.90sWARNcontroller_managerOverrun might occur, Total time : 1785.310 us (Expected < 1666.667 us) --> Read time : 222.745 us, Update time : 96.362 us, Write time : 1466.203 us + 18.90sWARNros2_control_nodeOverrun might occur, Total time : 1785.310 us (Expected < 1666.667 us) --> Read time : 222.745 us, Update time : 96.362 us, Write time : 1466.203 us[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819167 ms (missed cycles : 4). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819167 ms (missed cycles : 4).[0m ×2 + 20.08sWARNcontroller_managerOverrun might occur, Total time : 1773.470 us (Expected < 1666.667 us) --> Read time : 302.247 us, Update time : 821.419 us, Write time : 649.804 us + 20.09sWARNros2_control_nodeOverrun might occur, Total time : 1773.470 us (Expected < 1666.667 us) --> Read time : 302.247 us, Update time : 821.419 us, Write time : 649.804 us[0m ×2 + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258135 ms (missed cycles : 2). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258135 ms (missed cycles : 2).[0m ×2 + 21.09sWARNcontroller_managerOverrun might occur, Total time : 2174.430 us (Expected < 1666.667 us) --> Read time : 200.665 us, Update time : 1571.385 us, Write time : 402.380 us + 21.10sWARNros2_control_nodeOverrun might occur, Total time : 2174.430 us (Expected < 1666.667 us) --> Read time : 200.665 us, Update time : 1571.385 us, Write time : 402.380 us[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700359 ms (missed cycles : 3). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700359 ms (missed cycles : 3).[0m ×2 + 22.36sWARNcontroller_managerOverrun might occur, Total time : 4497.621 us (Expected < 1666.667 us) --> Read time : 212.675 us, Update time : 3466.418 us, Write time : 818.528 us + 22.36sWARNros2_control_nodeOverrun might occur, Total time : 4497.621 us (Expected < 1666.667 us) --> Read time : 212.675 us, Update time : 3466.418 us, Write time : 818.528 us[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977092 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977092 ms (missed cycles : 2).[0m ×2 + 23.49sWARNcontroller_managerOverrun might occur, Total time : 2189.689 us (Expected < 1666.667 us) --> Read time : 377.228 us, Update time : 215.995 us, Write time : 1596.466 us + 23.49sWARNros2_control_nodeOverrun might occur, Total time : 2189.689 us (Expected < 1666.667 us) --> Read time : 377.228 us, Update time : 215.995 us, Write time : 1596.466 us[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866866 ms (missed cycles : 3). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866866 ms (missed cycles : 3).[0m ×2 + 23.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.89sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.89sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.27sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.21% of iterations over budget over 2:10.011 of wall time (484/40066). Consistently above 1% means the model timestep should be raised.[0m ×2 + 24.68sWARNcontroller_managerOverrun might occur, Total time : 1881.703 us (Expected < 1666.667 us) --> Read time : 806.438 us, Update time : 125.603 us, Write time : 949.662 us + 24.69sWARNros2_control_nodeOverrun might occur, Total time : 1881.703 us (Expected < 1666.667 us) --> Read time : 806.438 us, Update time : 125.603 us, Write time : 949.662 us[0m ×2 + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755852 ms (missed cycles : 2). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755852 ms (missed cycles : 2).[0m ×2 + 24.82sINFOros2_control_node[2026-06-10 22:27:26.420] [info] Received new action goal ×2 + 24.82sINFOros2_control_node[2026-06-10 22:27:26.420] [info] Accepted new action goal ×2 + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684638 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684638 ms (missed cycles : 2).[0m ×2 + 25.88sWARNcontroller_managerOverrun might occur, Total time : 1822.501 us (Expected < 1666.667 us) --> Read time : 199.384 us, Update time : 59.912 us, Write time : 1563.205 us + 25.88sWARNros2_control_nodeOverrun might occur, Total time : 1822.501 us (Expected < 1666.667 us) --> Read time : 199.384 us, Update time : 59.912 us, Write time : 1563.205 us[0m ×2 + 26.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.01sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 26.33sINFOros2_control_node[2026-06-10 22:27:27.934] [info] Received new action goal ×2 + 26.33sINFOros2_control_node[2026-06-10 22:27:27.934] [info] Accepted new action goal ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663134 ms (missed cycles : 2). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663134 ms (missed cycles : 2).[0m ×2 + 26.97sWARNcontroller_managerOverrun might occur, Total time : 5219.639 us (Expected < 1666.667 us) --> Read time : 271.346 us, Update time : 48.322 us, Write time : 4899.971 us + 26.97sWARNros2_control_nodeOverrun might occur, Total time : 5219.639 us (Expected < 1666.667 us) --> Read time : 271.346 us, Update time : 48.322 us, Write time : 4899.971 us[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.268194 ms (missed cycles : 5). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.268194 ms (missed cycles : 5).[0m ×2 + 28.42sWARNcontroller_managerOverrun might occur, Total time : 1873.822 us (Expected < 1666.667 us) --> Read time : 1439.693 us, Update time : 74.051 us, Write time : 360.078 us + 28.43sWARNros2_control_nodeOverrun might occur, Total time : 1873.822 us (Expected < 1666.667 us) --> Read time : 1439.693 us, Update time : 74.051 us, Write time : 360.078 us[0m ×2 + 28.61sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 28.61sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.63sINFOros2_control_node[2026-06-10 22:27:30.231] [info] Received new action goal ×2 + 28.63sINFOros2_control_node[2026-06-10 22:27:30.232] [info] Accepted new action goal ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020616 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020616 ms (missed cycles : 2).[0m ×2 + 29.54sWARNcontroller_managerOverrun might occur, Total time : 1857.562 us (Expected < 1666.667 us) --> Read time : 786.198 us, Update time : 77.481 us, Write time : 993.883 us + 29.54sWARNros2_control_nodeOverrun might occur, Total time : 1857.562 us (Expected < 1666.667 us) --> Read time : 786.198 us, Update time : 77.481 us, Write time : 993.883 us[0m ×2 + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395564 ms (missed cycles : 3). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395564 ms (missed cycles : 3).[0m ×2 + 30.80sWARNcontroller_managerOverrun might occur, Total time : 3158.321 us (Expected < 1666.667 us) --> Read time : 292.847 us, Update time : 2363.443 us, Write time : 502.031 us + 30.80sWARNros2_control_nodeOverrun might occur, Total time : 3158.321 us (Expected < 1666.667 us) --> Read time : 292.847 us, Update time : 2363.443 us, Write time : 502.031 us[0m ×2 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.730050 ms (missed cycles : 6). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.730050 ms (missed cycles : 6).[0m ×2 + 31.68sINFOros2_control_node[2026-06-10 22:27:33.284] [info] Received new action goal ×2 + 31.68sINFOros2_control_node[2026-06-10 22:27:33.284] [info] Accepted new action goal ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694681 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694681 ms (missed cycles : 2).[0m ×2 + 32.04sWARNcontroller_managerOverrun might occur, Total time : 2663.800 us (Expected < 1666.667 us) --> Read time : 287.606 us, Update time : 93.942 us, Write time : 2282.252 us + 32.05sWARNros2_control_nodeOverrun might occur, Total time : 2663.800 us (Expected < 1666.667 us) --> Read time : 287.606 us, Update time : 93.942 us, Write time : 2282.252 us[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402696 ms (missed cycles : 2). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402696 ms (missed cycles : 2).[0m ×2 + 33.17sWARNcontroller_managerOverrun might occur, Total time : 4553.553 us (Expected < 1666.667 us) --> Read time : 3924.299 us, Update time : 94.882 us, Write time : 534.372 us + 33.17sWARNros2_control_nodeOverrun might occur, Total time : 4553.553 us (Expected < 1666.667 us) --> Read time : 3924.299 us, Update time : 94.882 us, Write time : 534.372 us[0m ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870883 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870883 ms (missed cycles : 2).[0m ×2 + 34.28sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 34.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.32sINFOros2_control_node[2026-06-10 22:27:35.917] [info] Received new action goal ×2 + 34.32sINFOros2_control_node[2026-06-10 22:27:35.917] [info] Accepted new action goal ×2 + 34.51sWARNcontroller_managerOverrun might occur, Total time : 1683.328 us (Expected < 1666.667 us) --> Read time : 224.255 us, Update time : 72.802 us, Write time : 1386.271 us + 34.52sWARNros2_control_nodeOverrun might occur, Total time : 1683.328 us (Expected < 1666.667 us) --> Read time : 224.255 us, Update time : 72.802 us, Write time : 1386.271 us[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385166 ms (missed cycles : 3). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385166 ms (missed cycles : 3).[0m ×2 + 35.74sWARNcontroller_managerOverrun might occur, Total time : 7764.246 us (Expected < 1666.667 us) --> Read time : 235.606 us, Update time : 6967.357 us, Write time : 561.283 us + 35.74sWARNros2_control_nodeOverrun might occur, Total time : 7764.246 us (Expected < 1666.667 us) --> Read time : 235.606 us, Update time : 6967.357 us, Write time : 561.283 us[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864803 ms (missed cycles : 3). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864803 ms (missed cycles : 3).[0m ×2 + 36.95sWARNcontroller_managerOverrun might occur, Total time : 3512.800 us (Expected < 1666.667 us) --> Read time : 185.064 us, Update time : 21.871 us, Write time : 3305.865 us + 36.96sWARNros2_control_nodeOverrun might occur, Total time : 3512.800 us (Expected < 1666.667 us) --> Read time : 185.064 us, Update time : 21.871 us, Write time : 3305.865 us[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596807 ms (missed cycles : 4). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596807 ms (missed cycles : 4).[0m ×2 + 38.06sWARNcontroller_managerOverrun might occur, Total time : 2157.549 us (Expected < 1666.667 us) --> Read time : 820.578 us, Update time : 860.080 us, Write time : 476.891 us + 38.06sWARNros2_control_nodeOverrun might occur, Total time : 2157.549 us (Expected < 1666.667 us) --> Read time : 820.578 us, Update time : 860.080 us, Write time : 476.891 us[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769920 ms (missed cycles : 3). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769920 ms (missed cycles : 3).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228460 ms (missed cycles : 2). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228460 ms (missed cycles : 2).[0m ×2 + 39.42sWARNcontroller_managerOverrun might occur, Total time : 1826.152 us (Expected < 1666.667 us) --> Read time : 262.646 us, Update time : 135.573 us, Write time : 1427.933 us + 39.43sWARNros2_control_nodeOverrun might occur, Total time : 1826.152 us (Expected < 1666.667 us) --> Read time : 262.646 us, Update time : 135.573 us, Write time : 1427.933 us[0m ×2 + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251366 ms (missed cycles : 5). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251366 ms (missed cycles : 5).[0m ×2 + 40.67sWARNcontroller_managerOverrun might occur, Total time : 2822.274 us (Expected < 1666.667 us) --> Read time : 169.254 us, Update time : 2116.448 us, Write time : 536.572 us + 40.67sWARNros2_control_nodeOverrun might occur, Total time : 2822.274 us (Expected < 1666.667 us) --> Read time : 169.254 us, Update time : 2116.448 us, Write time : 536.572 us[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076303 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076303 ms (missed cycles : 2).[0m ×2 + 42.00sWARNcontroller_managerOverrun might occur, Total time : 4535.122 us (Expected < 1666.667 us) --> Read time : 204.705 us, Update time : 3721.384 us, Write time : 609.033 us + 42.00sWARNros2_control_nodeOverrun might occur, Total time : 4535.122 us (Expected < 1666.667 us) --> Read time : 204.705 us, Update time : 3721.384 us, Write time : 609.033 us[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251087 ms (missed cycles : 3). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251087 ms (missed cycles : 3).[0m ×2 + 43.01sWARNcontroller_managerOverrun might occur, Total time : 1780.251 us (Expected < 1666.667 us) --> Read time : 181.914 us, Update time : 80.592 us, Write time : 1517.745 us + 43.01sWARNros2_control_nodeOverrun might occur, Total time : 1780.251 us (Expected < 1666.667 us) --> Read time : 181.914 us, Update time : 80.592 us, Write time : 1517.745 us[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792269 ms (missed cycles : 2). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792269 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697237 ms (missed cycles : 5). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697237 ms (missed cycles : 5).[0m ×2 + 44.37sWARNcontroller_managerOverrun might occur, Total time : 2430.025 us (Expected < 1666.667 us) --> Read time : 280.756 us, Update time : 1724.069 us, Write time : 425.200 us + 44.37sWARNros2_control_nodeOverrun might occur, Total time : 2430.025 us (Expected < 1666.667 us) --> Read time : 280.756 us, Update time : 1724.069 us, Write time : 425.200 us[0m ×2 + 45.07sINFOros2_control_node[2026-06-10 22:27:46.673] [info] Received new action goal ×2 + 45.07sINFOros2_control_node[2026-06-10 22:27:46.673] [info] Accepted new action goal ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975875 ms (missed cycles : 3). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975875 ms (missed cycles : 3).[0m ×2 + 45.39sWARNcontroller_managerOverrun might occur, Total time : 2017.766 us (Expected < 1666.667 us) --> Read time : 237.835 us, Update time : 286.837 us, Write time : 1493.094 us + 45.39sWARNros2_control_nodeOverrun might occur, Total time : 2017.766 us (Expected < 1666.667 us) --> Read time : 237.835 us, Update time : 286.837 us, Write time : 1493.094 us[0m ×2 + 46.23sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781130467.82944155 seconds ×3 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511523 ms (missed cycles : 2). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511523 ms (missed cycles : 2).[0m ×2 + 46.47sWARNcontroller_managerOverrun might occur, Total time : 9401.643 us (Expected < 1666.667 us) --> Read time : 134.443 us, Update time : 8700.888 us, Write time : 566.312 us + 46.47sWARNros2_control_nodeOverrun might occur, Total time : 9401.643 us (Expected < 1666.667 us) --> Read time : 134.443 us, Update time : 8700.888 us, Write time : 566.312 us[0m ×2 + 46.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781130468.56406903 seconds. ×3 + 47.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 47.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 47.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666511 ms (missed cycles : 3). + 47.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666511 ms (missed cycles : 3).[0m ×2 + 47.51sWARNcontroller_managerOverrun might occur, Total time : 9451.404 us (Expected < 1666.667 us) --> Read time : 237.816 us, Update time : 8635.875 us, Write time : 577.713 us + 47.51sWARNros2_control_nodeOverrun might occur, Total time : 9451.404 us (Expected < 1666.667 us) --> Read time : 237.816 us, Update time : 8635.875 us, Write time : 577.713 us[0m ×2 + 48.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 48.24sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.25sINFOros2_control_node[2026-06-10 22:27:49.850] [info] Received new action goal ×2 + 48.25sINFOros2_control_node[2026-06-10 22:27:49.850] [info] Accepted new action goal ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674201 ms (missed cycles : 3). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674201 ms (missed cycles : 3).[0m ×2 + 48.51sWARNcontroller_managerOverrun might occur, Total time : 2264.392 us (Expected < 1666.667 us) --> Read time : 276.027 us, Update time : 953.961 us, Write time : 1034.404 us + 48.51sWARNros2_control_nodeOverrun might occur, Total time : 2264.392 us (Expected < 1666.667 us) --> Read time : 276.027 us, Update time : 953.961 us, Write time : 1034.404 us[0m ×2 + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442041 ms (missed cycles : 4). + 49.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442041 ms (missed cycles : 4).[0m ×2
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	38.1s	3744 errors · 255 warnings · 7617 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1861 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3722 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021 ×2 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021[0m ×4 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682 ×2 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682[0m ×4 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543 ×2 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543[0m ×4 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3). + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623 ×2 + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3).[0m ×2 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623[0m ×4 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923 ×2 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923[0m ×4 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611 ×2 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611[0m ×4 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098 ×2 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098[0m ×4 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775 ×2 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775[0m ×4 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428 ×2 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428[0m ×4 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624[0m ×2 + 0.88sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 0.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2).[0m ×2 + 1.52sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×6 + 1.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130517.56949306 seconds ×3 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.67sWARNcontroller_managerOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us + 1.67sWARNros2_control_nodeOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781130518.16481829 seconds. ×3 + 2.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.27sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Accepted new action goal ×2 + 2.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.73sWARNcontroller_managerOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130519.55684900 seconds ×3 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781130520.17067432 seconds. ×3 + 4.26sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.26sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 2179.700 us (Expected < 1666.667 us) --> Read time : 280.547 us, Update time : 169.124 us, Write time : 1730.029 us + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 2179.700 us (Expected < 1666.667 us) --> Read time : 280.547 us, Update time : 169.124 us, Write time : 1730.029 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685093 ms (missed cycles : 8). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685093 ms (missed cycles : 8).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 2093.297 us (Expected < 1666.667 us) --> Read time : 271.226 us, Update time : 76.972 us, Write time : 1745.099 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 2093.297 us (Expected < 1666.667 us) --> Read time : 271.226 us, Update time : 76.972 us, Write time : 1745.099 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244857 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244857 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun might occur, Total time : 3870.497 us (Expected < 1666.667 us) --> Read time : 265.456 us, Update time : 58.171 us, Write time : 3546.870 us + 7.21sWARNros2_control_nodeOverrun might occur, Total time : 3870.497 us (Expected < 1666.667 us) --> Read time : 265.456 us, Update time : 58.171 us, Write time : 3546.870 us[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500583 ms (missed cycles : 4). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500583 ms (missed cycles : 4).[0m ×2 + 8.25sWARNcontroller_managerOverrun might occur, Total time : 7784.396 us (Expected < 1666.667 us) --> Read time : 157.444 us, Update time : 7060.569 us, Write time : 566.383 us + 8.25sWARNros2_control_nodeOverrun might occur, Total time : 7784.396 us (Expected < 1666.667 us) --> Read time : 157.444 us, Update time : 7060.569 us, Write time : 566.383 us[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979847 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979847 ms (missed cycles : 3).[0m ×2 + 9.40sWARNcontroller_managerOverrun might occur, Total time : 7752.565 us (Expected < 1666.667 us) --> Read time : 200.085 us, Update time : 7019.488 us, Write time : 532.992 us + 9.41sWARNros2_control_nodeOverrun might occur, Total time : 7752.565 us (Expected < 1666.667 us) --> Read time : 200.085 us, Update time : 7019.488 us, Write time : 532.992 us[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702380 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702380 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.522456 ms (missed cycles : 7). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.522456 ms (missed cycles : 7).[0m ×2 + 10.62sWARNcontroller_managerOverrun might occur, Total time : 5522.985 us (Expected < 1666.667 us) --> Read time : 168.514 us, Update time : 4826.889 us, Write time : 527.582 us + 10.62sWARNros2_control_nodeOverrun might occur, Total time : 5522.985 us (Expected < 1666.667 us) --> Read time : 168.514 us, Update time : 4826.889 us, Write time : 527.582 us[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.411507 ms (missed cycles : 7). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.411507 ms (missed cycles : 7).[0m ×2 + 11.69sWARNcontroller_managerOverrun might occur, Total time : 2259.411 us (Expected < 1666.667 us) --> Read time : 218.865 us, Update time : 1354.130 us, Write time : 686.416 us + 11.70sWARNros2_control_nodeOverrun might occur, Total time : 2259.411 us (Expected < 1666.667 us) --> Read time : 218.865 us, Update time : 1354.130 us, Write time : 686.416 us[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112796 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112796 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun might occur, Total time : 4609.044 us (Expected < 1666.667 us) --> Read time : 288.576 us, Update time : 3848.008 us, Write time : 472.460 us + 12.70sWARNros2_control_nodeOverrun might occur, Total time : 4609.044 us (Expected < 1666.667 us) --> Read time : 288.576 us, Update time : 3848.008 us, Write time : 472.460 us[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484764 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484764 ms (missed cycles : 4).[0m ×2 + 13.90sWARNcontroller_managerOverrun might occur, Total time : 3155.172 us (Expected < 1666.667 us) --> Read time : 271.506 us, Update time : 2357.424 us, Write time : 526.242 us + 13.90sWARNros2_control_nodeOverrun might occur, Total time : 3155.172 us (Expected < 1666.667 us) --> Read time : 271.506 us, Update time : 2357.424 us, Write time : 526.242 us[0m ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977786 ms (missed cycles : 6). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977786 ms (missed cycles : 6).[0m ×2 + 15.04sWARNcontroller_managerOverrun might occur, Total time : 1690.948 us (Expected < 1666.667 us) --> Read time : 306.477 us, Update time : 72.172 us, Write time : 1312.299 us + 15.05sWARNros2_control_nodeOverrun might occur, Total time : 1690.948 us (Expected < 1666.667 us) --> Read time : 306.477 us, Update time : 72.172 us, Write time : 1312.299 us[0m ×2 + 15.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 15.25sINFOros2_control_node[2026-06-10 22:28:51.278] [info] Received new action goal ×2 + 15.25sINFOros2_control_node[2026-06-10 22:28:51.278] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335079 ms (missed cycles : 3). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335079 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun might occur, Total time : 1773.440 us (Expected < 1666.667 us) --> Read time : 192.734 us, Update time : 561.933 us, Write time : 1018.773 us + 16.53sWARNros2_control_nodeOverrun might occur, Total time : 1773.440 us (Expected < 1666.667 us) --> Read time : 192.734 us, Update time : 561.933 us, Write time : 1018.773 us[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.932717 ms (missed cycles : 8). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.932717 ms (missed cycles : 8).[0m ×2 + 17.64sWARNcontroller_managerOverrun might occur, Total time : 3876.837 us (Expected < 1666.667 us) --> Read time : 349.468 us, Update time : 30.750 us, Write time : 3496.619 us + 17.64sWARNros2_control_nodeOverrun might occur, Total time : 3876.837 us (Expected < 1666.667 us) --> Read time : 349.468 us, Update time : 30.750 us, Write time : 3496.619 us[0m ×2 + 17.69sINFOros2_control_node[2026-06-10 22:28:53.723] [info] Received new action goal ×2 + 17.69sINFOros2_control_node[2026-06-10 22:28:53.723] [info] Accepted new action goal ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176065 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176065 ms (missed cycles : 2).[0m ×2 + 18.83sWARNcontroller_managerOverrun might occur, Total time : 2100.888 us (Expected < 1666.667 us) --> Read time : 244.666 us, Update time : 80.702 us, Write time : 1775.520 us + 18.83sWARNros2_control_nodeOverrun might occur, Total time : 2100.888 us (Expected < 1666.667 us) --> Read time : 244.666 us, Update time : 80.702 us, Write time : 1775.520 us[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111501 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111501 ms (missed cycles : 2).[0m ×2 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738231 ms (missed cycles : 3). + 20.04sWARNcontroller_managerOverrun might occur, Total time : 2520.107 us (Expected < 1666.667 us) --> Read time : 1055.344 us, Update time : 73.781 us, Write time : 1390.982 us + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738231 ms (missed cycles : 3).[0m ×2 + 20.04sWARNros2_control_nodeOverrun might occur, Total time : 2520.107 us (Expected < 1666.667 us) --> Read time : 1055.344 us, Update time : 73.781 us, Write time : 1390.982 us[0m ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525111 ms (missed cycles : 3). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525111 ms (missed cycles : 3).[0m ×2 + 21.14sWARNcontroller_managerOverrun might occur, Total time : 3725.694 us (Expected < 1666.667 us) --> Read time : 283.566 us, Update time : 2857.375 us, Write time : 584.753 us + 21.14sWARNros2_control_nodeOverrun might occur, Total time : 3725.694 us (Expected < 1666.667 us) --> Read time : 283.566 us, Update time : 2857.375 us, Write time : 584.753 us[0m ×2 + 21.41sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 21.41sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 21.69sWARNcontroller_managerOverrun might occur, Total time : 2671.100 us (Expected < 1666.667 us) --> Read time : 339.968 us, Update time : 1548.885 us (Switch time : 1478.943 us (Switch chained mode time : 0.530 us, perform mode change time : 7.210 us, Activation time : 1419.862 us, Deactivation time : 46.881 us)), Write time : 782.247 us + 21.69sWARNros2_control_nodeOverrun might occur, Total time : 2671.100 us (Expected < 1666.667 us) --> Read time : 339.968 us, Update time : 1548.885 us (Switch time : 1478.943 us (Switch chained mode time : 0.530 us, perform mode change time : 7.210 us, Activation time : 1419.862 us, Deactivation time : 46.881 us)), Write time : 782.247 us[0m ×2 + 21.91sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 21.91sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821680 ms (missed cycles : 5). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821680 ms (missed cycles : 5).[0m ×2 + 22.25sWARNcontroller_managerOverrun might occur, Total time : 4384.451 us (Expected < 1666.667 us) --> Read time : 183.204 us, Update time : 3631.984 us, Write time : 569.263 us + 22.25sWARNros2_control_nodeOverrun might occur, Total time : 4384.451 us (Expected < 1666.667 us) --> Read time : 183.204 us, Update time : 3631.984 us, Write time : 569.263 us[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226140 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226140 ms (missed cycles : 2).[0m ×2 + 23.32sWARNcontroller_managerOverrun might occur, Total time : 1903.243 us (Expected < 1666.667 us) --> Read time : 744.817 us, Update time : 88.432 us, Write time : 1069.994 us + 23.32sWARNros2_control_nodeOverrun might occur, Total time : 1903.243 us (Expected < 1666.667 us) --> Read time : 744.817 us, Update time : 88.432 us, Write time : 1069.994 us[0m ×2 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544375 ms (missed cycles : 2). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544375 ms (missed cycles : 2).[0m ×2 + 24.36sWARNcontroller_managerOverrun might occur, Total time : 7927.183 us (Expected < 1666.667 us) --> Read time : 247.565 us, Update time : 6995.972 us, Write time : 683.646 us + 24.36sWARNros2_control_nodeOverrun might occur, Total time : 7927.183 us (Expected < 1666.667 us) --> Read time : 247.565 us, Update time : 6995.972 us, Write time : 683.646 us[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001520689160502 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001520689160502[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956153921977 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956153921977[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290258886991 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290258886991[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534618641632 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534618641632[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880946570565 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880946570565[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570158544613 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570158544613[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295820235242 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295820235242[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741680132088 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741680132088[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312465972790 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312465972790[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305442781496 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305442781496[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106599836588 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106599836588[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130581188031 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130581188031[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086323941714 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086323941714[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199220863463 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199220863463[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062900719748 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062900719748[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198371058130 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198371058130[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379213400953 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379213400953[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001612917174887 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001612917174887[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726733716270 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726733716270[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001022552429155 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001022552429155[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551376733720 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551376733720[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445308389021 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445308389021[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053274743614 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053274743614[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023063786330 ×2 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023063786330[0m ×4 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193598970638 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193598970638[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302130573943 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302130573943[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000645173817067 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000645173817067[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000761607450245 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000761607450245[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062498730072 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062498730072[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000646515465900 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000646515465900[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000249678897762 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000249678897762[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496430670984 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496430670984[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186707348313 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186707348313[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088523308015 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088523308015[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592197055543 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592197055543[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592325090808 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592325090808[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000979409546923 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000979409546923[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000613367376835 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000613367376835[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087881220055 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087881220055[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500650089923 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500650089923[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509291218688 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509291218688[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014923014569 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014923014569[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001870657497140 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001870657497140[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003802252001236 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003802252001236[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239420251535 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239420251535[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693307565447 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693307565447[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001476625345160 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001476625345160[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000584645871242 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000584645871242[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059053043547 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059053043547[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203065194028 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203065194028[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222753366437 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222753366437[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309919827266 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309919827266[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240677222677 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240677222677[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783441786396 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783441786396[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733156174665 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733156174665[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003785562101 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003785562101[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000244382665622 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000244382665622[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163319623586 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163319623586[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092145435236 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092145435236[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011261550765 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011261550765[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016694555685 ×2 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016694555685[0m ×4 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373027871972 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373027871972[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283512170436 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283512170436[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965377392682 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965377392682[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001428349670740 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065624 ms (missed cycles : 3). + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001428349670740[0m ×2 + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065624 ms (missed cycles : 3).[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834432900002 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834432900002[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000249082188337 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000249082188337[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616673914244 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616673914244[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352670761109 ×2 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352670761109[0m ×4 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002383669524605 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002383669524605[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002920998021658 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002920998021658[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714537902455 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714537902455[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560960369671 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560960369671[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072345515921 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072345515921[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399141987551 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399141987551[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122175525882 ×2 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122175525882[0m ×4 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084845554038 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084845554038[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099528528054 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099528528054[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089097133862 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089097133862[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444853088556 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444853088556[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724836625158 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724836625158[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007167218038551 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007167218038551[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006180040265392 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006180040265392[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062458332283 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062458332283[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293041527721 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293041527721[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195274996019 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195274996019[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000642290111882 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000642290111882[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000623139574192 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000623139574192[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023242679003 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023242679003[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014964651413 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014964651413[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000326107670565 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000326107670565[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000396301468393 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000396301468393[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309721503818 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309721503818[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000333458604414 ×2 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000333458604414[0m ×4 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000400161964207 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000400161964207[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000456812832591 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000456812832591[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000267905568113 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000267905568113[0m ×2 + 25.50sWARNcontroller_managerOverrun might occur, Total time : 2547.539 us (Expected < 1666.667 us) --> Read time : 256.256 us, Update time : 86.102 us, Write time : 2205.181 us + 25.50sWARNros2_control_nodeOverrun might occur, Total time : 2547.539 us (Expected < 1666.667 us) --> Read time : 256.256 us, Update time : 86.102 us, Write time : 2205.181 us[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160794045826 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160794045826[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315987676246 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315987676246[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944803211955 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944803211955[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945024769807 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945024769807[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399311217044 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399311217044[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000366528913731 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000366528913731[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075805034170 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075805034170[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020112515246 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020112515246[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020860079377 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020860079377[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029996923308 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029996923308[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055049603418 ×2 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055049603418[0m ×4 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063772248037 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063772248037[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062536258583 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062536258583[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000309237550155 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000309237550155[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690637843651 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690637843651[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081354874705 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081354874705[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000626495921641 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000626495921641[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000600638523002 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000600638523002[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126914654007 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126914654007[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114740564126 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114740564126[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318892612119 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318892612119[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142390565609 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142390565609[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038337563471 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038337563471[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068704732408 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068704732408[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000333313182041 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000333313182041[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000239138512031 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000239138512031[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166315080092 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166315080092[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166398877323 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166398877323[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000267101651861 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000267101651861[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063901369771 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063901369771[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380813703682 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380813703682[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272789873570 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272789873570[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820408103611 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820408103611[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000499581396903 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000499581396903[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140914679135 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140914679135[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055314517584 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055314517584[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048828462985 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048828462985[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169769676748 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169769676748[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122738088099 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122738088099[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085713829308 ×2 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085713829308[0m ×4 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057073231525 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057073231525[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036240159299 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036240159299[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021730822087 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021730822087[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012242831530 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012242831530[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070969540087 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070969540087[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045188333998 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045188333998[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000291502250470 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000291502250470[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123647953243 ×2 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123647953243[0m ×4 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223104182974 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223104182974[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302886518359 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302886518359[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094420018962 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094420018962[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831479866800 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831479866800[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001785283988015 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001785283988015[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029090304097 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029090304097[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129715896877 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129715896877[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866595757911 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866595757911[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751521804792 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751521804792[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762284323459 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762284323459[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716064188103 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716064188103[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868435789330 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868435789330[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667082783386 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667082783386[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792230433348 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792230433348[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494500813773 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494500813773[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888737745525 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888737745525[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459567500295 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459567500295[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197764252342 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197764252342[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005267090158605 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005267090158605[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437053436870 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437053436870[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163586 ms (missed cycles : 2). + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888908235187 + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163586 ms (missed cycles : 2).[0m ×2 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888908235187[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815324416461 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815324416461[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046667832075 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046667832075[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855339170065 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855339170065[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209748191118 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209748191118[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820555155768 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820555155768[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853246629256 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853246629256[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090156858798 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090156858798[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385463935783 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385463935783[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905278084287 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905278084287[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591198042558 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591198042558[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691091071369 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691091071369[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728542654099 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728542654099[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639965209495 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639965209495[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056339207330 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056339207330[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973704665218 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973704665218[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606328116918 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606328116918[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005993733051056 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005993733051056[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920945567673 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920945567673[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340507220693 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340507220693[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738046967185 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738046967185[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427046013806 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427046013806[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536085396012 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536085396012[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916018390106 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916018390106[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366960858200 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366960858200[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627987417287 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627987417287[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088338521698 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088338521698[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073408449846 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073408449846[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601685874388 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601685874388[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775332724794 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775332724794[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482621957328 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482621957328[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039725920538 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039725920538[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180972630201 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180972630201[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309996214934 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309996214934[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490393647672 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490393647672[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578986981796 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578986981796[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097978421462 ×2 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097978421462[0m ×4 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429819226269 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429819226269[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433396431614 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433396431614[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405248191969 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405248191969[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406158633991 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406158633991[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908624188827 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908624188827[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371786342094 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371786342094[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274090730185 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274090730185[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671069271862 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671069271862[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809477269908 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809477269908[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246603016413 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246603016413[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533119035516 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533119035516[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281962658400 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281962658400[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461435901803 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461435901803[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264658635508 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264658635508[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412466238464 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412466238464[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107094603557 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107094603557[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287971809289 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287971809289[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714370536838 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714370536838[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104224231501 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104224231501[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538617408255 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538617408255[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673625439174 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673625439174[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376358910791 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376358910791[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533282581270 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533282581270[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336936221219 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336936221219[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467601329258 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467601329258[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144752944729 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144752944729[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313204231394 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313204231394[0m ×2 + 26.79sWARNcontroller_managerOverrun might occur, Total time : 2079.958 us (Expected < 1666.667 us) --> Read time : 233.075 us, Update time : 1323.661 us, Write time : 523.222 us + 26.79sWARNros2_control_nodeOverrun might occur, Total time : 2079.958 us (Expected < 1666.667 us) --> Read time : 233.075 us, Update time : 1323.661 us, Write time : 523.222 us[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032712422362 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032712422362[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222544240226 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222544240226[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997630503666 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997630503666[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212595198617 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212595198617[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731860020772 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731860020772[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738013231190 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738013231190[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374274709748 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374274709748[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494797388075 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494797388075[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304496980506 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304496980506[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712423792789 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712423792789[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654084081704 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654084081704[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220899133913 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220899133913[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327375880072 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327375880072[0m ×2 + 26.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065109378464 + 26.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065109378464[0m ×2 + 26.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029259305028 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029259305028[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902166340069 + 26.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902166340069[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705167230545 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705167230545[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688893133685 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688893133685[0m ×2 + 26.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005271862351736 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005271862351736[0m ×2 + 26.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377063951480 + 26.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377063951480[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055199482434 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055199482434[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489654284405 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489654284405[0m ×2 + 27.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504926703222 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504926703222[0m ×2 + 27.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123282763861 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123282763861[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262411477154 + 27.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262411477154[0m ×2 + 27.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972693777449 + 27.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972693777449[0m ×2 + 27.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992399766332 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992399766332[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863186875646 + 27.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863186875646[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411213404336 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411213404336[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483606402489 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483606402489[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129102456699 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129102456699[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280344224786 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280344224786[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990599145816 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990599145816[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424494138456 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424494138456[0m ×2 + 27.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160178539864 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160178539864[0m ×2 + 27.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971265774191 + 27.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971265774191[0m ×2 + 27.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005463744419204 + 27.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005463744419204[0m ×2 + 27.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265115359183 + 27.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265115359183[0m ×2 + 27.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001314800244 + 27.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001314800244[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448874811503 + 27.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448874811503[0m ×2 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812442 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812442 ms (missed cycles : 2).[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695887096513 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695887096513[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004199469055099 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004199469055099[0m ×2 + 27.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692156708606 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692156708606[0m ×2 + 27.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689953787697 + 27.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689953787697[0m ×2 + 27.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005322496094372 + 27.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005322496094372[0m ×2 + 27.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691926504128 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691926504128[0m ×2 + 27.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006492605792226 + 27.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006492605792226[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005249674900620 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005249674900620[0m ×2 + 27.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005757203982553 + 27.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005757203982553[0m ×2 + 27.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006012286846303 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006012286846303[0m ×2 + 27.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117340900672 + 27.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117340900672[0m ×2 + 27.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006917567586773 + 27.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006917567586773[0m ×2 + 27.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379325610632 + 27.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379325610632[0m ×2 + 27.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606190201156 + 27.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606190201156[0m ×2 + 27.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740158922747 + 27.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740158922747[0m ×2 + 27.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559239465191 + 27.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559239465191[0m ×2 + 27.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060472206722 + 27.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060472206722[0m ×2 + 27.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396254505142 + 27.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396254505142[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357433596145 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357433596145[0m ×2 + 27.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956090831223 + 27.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956090831223[0m ×2 + 27.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351184747587 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351184747587[0m ×2 + 27.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583560246773 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583560246773[0m ×2 + 27.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482589051615 + 27.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482589051615[0m ×2 + 27.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999738665074 + 27.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999738665074[0m ×2 + 27.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127995875200 + 27.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127995875200[0m ×2 + 27.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921030145709 + 27.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921030145709[0m ×2 + 27.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074783291995 + 27.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074783291995[0m ×2 + 27.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780880804250 + 27.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780880804250[0m ×2 + 27.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857841162997 + 27.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857841162997[0m ×2 + 27.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749648324466 + 27.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749648324466[0m ×2 + 27.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317485397655 + 27.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317485397655[0m ×2 + 27.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646616331488 + 27.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646616331488[0m ×2 + 27.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005823727669218 + 27.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005823727669218[0m ×2 + 27.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006254935562421 + 27.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006254935562421[0m ×2 + 27.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923459175030 + 27.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923459175030[0m ×2 + 27.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302568078831 + 27.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302568078831[0m ×2 + 27.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844605824357 + 27.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844605824357[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980002407054 + 27.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980002407054[0m ×2 + 27.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576918862890 + 27.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576918862890[0m ×2 + 27.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592157207710 + 27.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592157207710[0m ×2 + 27.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062536823597 + 27.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062536823597[0m ×2 + 27.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152756017598 + 27.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152756017598[0m ×2 + 27.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006147109410394 + 27.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006147109410394[0m ×2 + 27.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092543347032 + 27.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092543347032[0m ×2 + 27.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247290141000 + 27.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247290141000[0m ×2 + 27.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005725575711471 + 27.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005725575711471[0m ×2 + 27.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005813968500793 + 27.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005813968500793[0m ×2 + 27.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145496355926 + 27.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145496355926[0m ×2 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004834773002104 + 27.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004834773002104[0m ×2 + 27.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282250605464 + 27.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282250605464[0m ×2 + 27.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073956587327 + 27.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073956587327[0m ×2 + 27.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049378231691 + 27.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049378231691[0m ×2 + 27.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994792066202 + 27.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994792066202[0m ×2 + 27.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013013286480831 + 27.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013013286480831[0m ×2 + 27.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010317089120875 + 27.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010317089120875[0m ×2 + 27.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011785458520266 + 27.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011785458520266[0m ×2 + 27.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009349177303567 + 27.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009349177303567[0m ×2 + 27.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006426300938713 + 27.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006426300938713[0m ×2 + 27.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380988202594 + 27.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380988202594[0m ×2 + 27.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123837328005 + 27.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123837328005[0m ×2 + 27.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005704467799447 + 27.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005704467799447[0m ×2 + 27.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493877350406 + 27.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493877350406[0m ×2 + 27.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408926966979 + 27.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408926966979[0m ×2 + 27.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005837447138354 + 27.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005837447138354[0m ×2 + 27.82sWARNcontroller_managerOverrun might occur, Total time : 2003.457 us (Expected < 1666.667 us) --> Read time : 259.536 us, Update time : 879.151 us, Write time : 864.770 us + 27.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005667460890599 + 27.82sWARNros2_control_nodeOverrun might occur, Total time : 2003.457 us (Expected < 1666.667 us) --> Read time : 259.536 us, Update time : 879.151 us, Write time : 864.770 us[0m ×2 + 27.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005667460890599[0m ×2 + 27.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897880231608 + 27.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897880231608[0m ×2 + 27.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090786858214 + 27.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090786858214[0m ×2 + 27.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876692852553 + 27.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876692852553[0m ×2 + 27.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364551742074 + 27.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364551742074[0m ×2 + 27.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173011358731 + 27.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173011358731[0m ×2 + 27.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350725599783 + 27.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350725599783[0m ×2 + 27.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090968990630 + 27.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090968990630[0m ×2 + 27.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523531706649 + 27.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523531706649[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749305936481 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749305936481[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207055276532 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207055276532[0m ×2 + 27.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006739223990038 + 27.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006739223990038[0m ×2 + 27.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006376861382006 + 27.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006376861382006[0m ×2 + 27.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100446142352 + 27.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100446142352[0m ×2 + 27.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006526672796958 + 27.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006526672796958[0m ×2 + 27.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006164055657897 + 27.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006164055657897[0m ×2 + 27.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910837829741 + 27.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910837829741[0m ×2 + 27.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142385067628 + 27.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142385067628[0m ×2 + 28.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887509669998 + 28.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887509669998[0m ×2 + 28.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915234135172 + 28.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915234135172[0m ×2 + 28.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060180100657 + 28.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060180100657[0m ×2 + 28.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820657973071 + 28.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820657973071[0m ×2 + 28.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007560728623691 + 28.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007560728623691[0m ×2 + 28.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628167839775 + 28.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628167839775[0m ×2 + 28.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007013010214197 + 28.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007013010214197[0m ×2 + 28.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006532026749206 + 28.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006532026749206[0m ×2 + 28.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175957427454 + 28.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175957427454[0m ×2 + 28.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006600207640145 + 28.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006600207640145[0m ×2 + 28.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006182978358243 + 28.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006182978358243[0m ×2 + 28.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911611061064 + 28.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911611061064[0m ×2 + 28.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459014555476 + 28.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459014555476[0m ×2 + 28.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241684237283 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241684237283[0m ×2 + 28.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005949079172417 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005949079172417[0m ×2 + 28.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844159868261 + 28.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844159868261[0m ×2 + 28.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752918622988 + 28.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752918622988[0m ×2 + 28.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681078098699 + 28.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681078098699[0m ×2 + 28.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461830415796 + 28.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461830415796[0m ×2 + 28.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116499198729 + 28.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116499198729[0m ×2 + 28.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005857531723341 + 28.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005857531723341[0m ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040519 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040519 ms (missed cycles : 3).[0m ×2 + 28.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689013657194 + 28.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689013657194[0m ×2 + 28.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114678944616 + 28.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114678944616[0m ×2 + 28.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924508292214 + 28.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924508292214[0m ×2 + 28.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006706847433835 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006706847433835[0m ×2 + 28.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260133835816 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260133835816[0m ×2 + 28.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947664436657 + 28.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947664436657[0m ×2 + 28.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190384496526 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190384496526[0m ×2 + 28.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958054928309 + 28.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958054928309[0m ×2 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780075478528 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780075478528[0m ×2 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007217118960285 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007217118960285[0m ×2 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523207510338 + 28.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523207510338[0m ×2 + 28.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063477675488 + 28.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063477675488[0m ×2 + 28.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756887778757 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756887778757[0m ×2 + 28.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569826236747 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569826236747[0m ×2 + 28.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005459514235621 + 28.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005459514235621[0m ×2 + 28.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964172561963 + 28.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964172561963[0m ×2 + 28.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805549579363 + 28.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805549579363[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005680866578114 + 28.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005680866578114[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109136231842 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109136231842[0m ×2 + 28.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006474623634421 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006474623634421[0m ×2 + 28.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006031668761809 + 28.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006031668761809[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731814654193 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731814654193[0m ×2 + 28.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005532140769850 + 28.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005532140769850[0m ×2 + 28.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006957094205017 + 28.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006957094205017[0m ×2 + 28.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306110315387 + 28.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306110315387[0m ×2 + 28.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869200830709 + 28.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869200830709[0m ×2 + 28.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005590879111545 + 28.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005590879111545[0m ×2 + 28.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943039873499 + 28.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943039873499[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007466739861057 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007466739861057[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007882529041776 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007882529041776[0m ×2 + 28.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007049284431710 + 28.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007049284431710[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006432734666110 + 28.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006432734666110[0m ×2 + 28.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991755368157 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991755368157[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690841055107 + 28.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690841055107[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007107150000096 + 28.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007107150000096[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006374267120361 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006374267120361[0m ×2 + 28.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156752261678 + 28.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156752261678[0m ×2 + 28.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005817753306938 + 28.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005817753306938[0m ×2 + 28.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007230287248877 + 28.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007230287248877[0m ×2 + 28.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465018128451 + 28.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465018128451[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942453069499 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942453069499[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603225200606 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603225200606[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007016046106054 + 28.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007016046106054[0m ×2 + 28.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287910928877 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287910928877[0m ×2 + 28.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069236606759 + 28.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069236606759[0m ×2 + 28.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107754569161 + 28.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107754569161[0m ×2 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008021274510862 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008021274510862[0m ×2 + 28.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006974218766349 + 28.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006974218766349[0m ×2 + 28.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006245598840884 + 28.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006245598840884[0m ×2 + 28.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007648303584298 + 28.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007648303584298[0m ×2 + 28.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201449038711 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201449038711[0m ×2 + 28.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007447653548201 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007447653548201[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839815096308 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839815096308[0m ×2 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007432951555719 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007432951555719[0m ×2 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461693760312 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461693760312[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008006998294813 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008006998294813[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008126628292604 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008126628292604[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006854896128836 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006854896128836[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006506199244 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006506199244[0m ×2 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487442271030 + 28.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487442271030[0m ×2 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007368660625104 + 28.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007368660625104[0m ×2 + 28.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746489267704 + 28.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746489267704[0m ×2 + 28.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009391757911418 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009391757911418[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007551254142405 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007551254142405[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339451623744 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339451623744[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007756861763680 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007756861763680[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007976246841841 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007976246841841[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006634903478473 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006634903478473[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005781078270358 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005781078270358[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007438268971204 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007438268971204[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007657112042419 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007657112042419[0m ×2 + 28.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477178874888 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477178874888[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698019093424 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698019093424[0m ×2 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007045113146468 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007045113146468[0m ×2 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008421700125165 + 28.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008421700125165[0m ×2 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201082736941 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201082736941[0m ×2 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008492493232293 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008492493232293[0m ×2 + 28.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007089452234240 + 28.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007089452234240[0m ×2 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008292813421770 + 28.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008292813421770[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867908740997 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867908740997[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007609363175961 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007609363175961[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006391828195565 + 29.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006391828195565[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732785236787 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732785236787[0m ×2 + 29.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007478855041672 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007478855041672[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430156851706 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430156851706[0m ×2 + 29.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007872671537709 + 29.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007872671537709[0m ×2 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008610340759583 + 29.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008610340759583[0m ×2 + 29.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006636540052046 + 29.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006636540052046[0m ×2 + 29.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007983342981943 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007983342981943[0m ×2 + 29.07sWARNcontroller_managerOverrun might occur, Total time : 2610.541 us (Expected < 1666.667 us) --> Read time : 342.078 us, Update time : 1614.058 us, Write time : 654.405 us + 29.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006673041498385 + 29.08sWARNros2_control_nodeOverrun might occur, Total time : 2610.541 us (Expected < 1666.667 us) --> Read time : 342.078 us, Update time : 1614.058 us, Write time : 654.405 us[0m ×2 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006673041498385[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007939882681008 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007939882681008[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284902839036 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284902839036[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682617885020 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682617885020[0m ×2 + 29.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007991104053010 + 29.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007991104053010[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006654529908583 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006654529908583[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007901190815633 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007901190815633[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006551647693848 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006551647693848[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007901044889434 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007901044889434[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006513113611649 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006513113611649[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734913577623 + 29.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734913577623[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008127790723211 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008127790723211[0m ×2 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006638705367380 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006638705367380[0m ×2 + 29.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007787922762862 + 29.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007787922762862[0m ×2 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006407703984328 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006407703984328[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007633757258999 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007633757258999[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008359395329935 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008359395329935[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006760175778590 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006760175778590[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007827007303540 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007827007303540[0m ×2 + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270530 ms (missed cycles : 2). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270530 ms (missed cycles : 2).[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006402471003177 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006402471003177[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529804417101 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529804417101[0m ×2 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007197913116591 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007197913116591[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008245495445176 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008245495445176[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009577105240977 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009577105240977[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007589990916600 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007589990916600[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342968004116 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342968004116[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715872210389 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715872210389[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217496454764 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217496454764[0m ×2 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007166542576918 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007166542576918[0m ×2 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008489622387965 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008489622387965[0m ×2 + 29.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009166483370387 + 29.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009166483370387[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009466985226529 + 29.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009466985226529[0m ×2 + 29.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009535730052853 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009535730052853[0m ×2 + 29.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010248693259947 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010248693259947[0m ×2 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007852216786246 + 29.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007852216786246[0m ×2 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008330370444600 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008330370444600[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008613916080950 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008613916080950[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008998322271392 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008998322271392[0m ×2 + 29.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006945982149891 + 29.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006945982149891[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007693767913513 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007693767913513[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341130430183 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341130430183[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410290774176 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410290774176[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007725492887558 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007725492887558[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008499750014019 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008499750014019[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010906175978675 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010906175978675[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010391590283625 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010391590283625[0m ×2 + 29.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009917634271455 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009917634271455[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009515356074798 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009515356074798[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009575507249916 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009575507249916[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007200752936111 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007200752936111[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007717726204269 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007717726204269[0m ×2 + 29.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578339796339 + 29.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578339796339[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006895054502867 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006895054502867[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009276984413467 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009276984413467[0m ×2 + 29.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009218597608235 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009218597608235[0m ×2 + 29.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009100777159228 + 29.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009100777159228[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008962315094561 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008962315094561[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009656507083944 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009656507083944[0m ×2 + 29.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009255458119736 + 29.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009255458119736[0m ×2 + 29.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008949784411607 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008949784411607[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009580613741291 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009580613741291[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009220726622660 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009220726622660[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008934380105199 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008934380105199[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009306782474948 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009306782474948[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009692975636456 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009692975636456[0m ×2 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009262948290326 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009262948290326[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008927210559921 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008927210559921[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008676856072121 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008676856072121[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009359862437239 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009359862437239[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008917846463681 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008917846463681[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008609580170085 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008609580170085[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009269132882135 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009269132882135[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009636652241134 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009636652241134[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009806084781460 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009806084781460[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296942622356 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296942622356[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008901070342134 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008901070342134[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008605737649649 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008605737649649[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009851514416409 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009851514416409[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009159130399899 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009159130399899[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008677450047117 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008677450047117[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008355745864520 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008355745864520[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009595229918446 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009595229918446[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008913305061693 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008913305061693[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008458127402906 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008458127402906[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008169444186876 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008169444186876[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389706565581 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389706565581[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011440727862237 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011440727862237[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012104549601506 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012104549601506[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010736120053101 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010736120053101[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009708813457120 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009708813457120[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008970045537447 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008970045537447[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011993043054545 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011993043054545[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010294779112884 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010294779112884[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010952419708869 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010952419708869[0m ×2 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009582580321793 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009582580321793[0m ×2 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008764863929602 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008764863929602[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011729046649156 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011729046649156[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011759342160151 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011759342160151[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010063759508897 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010063759508897[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008922246845537 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008922246845537[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008193588011814 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008193588011814[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011232162870701 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011232162870701[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007515042208603 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007515042208603[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707998902377 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707998902377[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009057146678318 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009057146678318[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010246265548578 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010246265548578[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012797283727860 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012797283727860[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010806698737839 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010806698737839[0m ×2 + 30.10sWARNcontroller_managerOverrun might occur, Total time : 1823.422 us (Expected < 1666.667 us) --> Read time : 253.646 us, Update time : 73.022 us, Write time : 1496.754 us + 30.11sWARNros2_control_nodeOverrun might occur, Total time : 1823.422 us (Expected < 1666.667 us) --> Read time : 253.646 us, Update time : 73.022 us, Write time : 1496.754 us[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012832459716665 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012832459716665[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007647845859795 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007647845859795[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010966688046461 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010966688046461[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012989283136243 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012989283136243[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014158933419602 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014158933419602[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011437546403059 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011437546403059[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012950401644170 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012950401644170[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010428203569187 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010428203569187[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012136397840116 + 30.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012136397840116[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012235701942027 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012235701942027[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009291072505330 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009291072505330[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011496214405938 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011496214405938[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009515250155143 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009515250155143[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011638413446057 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011638413446057[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009534624069077 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009534624069077[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011501580356617 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011501580356617[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009406660635372 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009406660635372[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011372559492292 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011372559492292[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012509999541760 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012509999541760[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009992990987123 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009992990987123[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011650728085005 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011650728085005[0m ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268998 ms (missed cycles : 2). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268998 ms (missed cycles : 2).[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012668036697585 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012668036697585[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009150226629085 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009150226629085[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011149948001268 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011149948001268[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012384682779128 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012384682779128[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013077919793413 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013077919793413[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013406191510537 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013406191510537[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010287361754156 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010287361754156[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336128146181 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336128146181[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012748230837990 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012748230837990[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009754490459195 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009754490459195[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011066150750169 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011066150750169[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008201687331361 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008201687331361[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010358258229743 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010358258229743[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011719039749544 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011719039749544[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015436944975884 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015436944975884[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014773933761045 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014773933761045[0m ×2 + 30.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011023038643031 + 30.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011023038643031[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011718752718545 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011718752718545[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012141789100033 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012141789100033[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012370655685316 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012370655685316[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012467589202446 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012467589202446[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014047343222874 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014047343222874[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014138382440668 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014138382440668[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013640321644848 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013640321644848[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013198292740823 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013198292740823[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012828072647584 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012828072647584[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013879592039693 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013879592039693[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013170888292954 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013170888292954[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012652837603850 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012652837603850[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012286525289775 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012286525289775[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012035049529663 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012035049529663[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013951967418910 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013951967418910[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013032885754218 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013032885754218[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012398424001718 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012398424001718[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011977956829581 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011977956829581[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013874326244601 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013874326244601[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012864406274551 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012864406274551[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012184536639273 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012184536639273[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014066839155385 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014066839155385[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013647925745193 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013647925745193[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013687558905269 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013687558905269[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018265187337104 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018265187337104[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018227275067849 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018227275067849[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015533546813946 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015533546813946[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013637399668298 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013637399668298[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013051602394451 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013051602394451[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017470469824926 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017470469824926[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014478312226049 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014478312226049[0m ×2 + 30.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012920147104876 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012920147104876[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017063081730378 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017063081730378[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014351875004519 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014351875004519[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016129940354754 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016129940354754[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013605211711666 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013605211711666[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011952681425405 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011952681425405[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015211899703057 + 30.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015211899703057[0m ×2 + 30.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012913164690333 + 30.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012913164690333[0m ×2 + 30.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011444648405591 + 30.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011444648405591[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015625741137375 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015625741137375[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017364201398692 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017364201398692[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014217983669215 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014217983669215[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009570434800545 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009570434800545[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014891141376321 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014891141376321[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018098840630739 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018098840630739[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019827393164120 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019827393164120[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021516211410739 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021516211410739[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016712169281170 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016712169281170[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013448795037329 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013448795037329[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016189473750000 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016189473750000[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017853336607988 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017853336607988[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014027894582554 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014027894582554[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016343960263901 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016343960263901[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012963168953747 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012963168953747[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015570082848757 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015570082848757[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017164451781519 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017164451781519[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013356243829791 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013356243829791[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015596887523801 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015596887523801[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016959346092362 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016959346092362[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017821333364403 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017821333364403[0m ×2 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013616429545653 + 31.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013616429545653[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015521257149654 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015521257149654[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016680943953891 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016680943953891[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018246671968451 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018246671968451[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008677086782274 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008677086782274[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013976467535463 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013976467535463[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024386161506820 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024386161506820[0m ×2 + 31.11sWARNcontroller_managerOverrun might occur, Total time : 2203.561 us (Expected < 1666.667 us) --> Read time : 186.765 us, Update time : 64.021 us, Write time : 1952.775 us + 31.12sWARNros2_control_nodeOverrun might occur, Total time : 2203.561 us (Expected < 1666.667 us) --> Read time : 186.765 us, Update time : 64.021 us, Write time : 1952.775 us[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017842315326072 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017842315326072[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019993093320683 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019993093320683[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019148063747337 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019148063747337[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021913223561082 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021913223561082[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015700621400454 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015700621400454[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015958770830257 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015958770830257[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016071282657242 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016071282657242[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016081954702376 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016081954702376[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016026180501078 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016026180501078[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015929512617529 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015929512617529[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017900236482531 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017900236482531[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020526755274358 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020526755274358[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018801329527065 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018801329527065[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017468914748194 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017468914748194[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016474701123201 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016474701123201[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015758967185512 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015758967185512[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022628790245937 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022628790245937[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022845086845821 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022845086845821[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019465569136579 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019465569136579[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017118276663929 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017118276663929[0m ×2 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704126 ms (missed cycles : 3). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704126 ms (missed cycles : 3).[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015558549625118 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015558549625118[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013015517847672 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013015517847672[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020938093897834 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020938093897834[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025384477690776 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025384477690776[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028195294474409 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028195294474409[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018695019316473 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018695019316473[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016125247526144 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016125247526144[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021222689159829 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021222689159829[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017491524242647 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017491524242647[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019787488296930 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019787488296930[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016412086880259 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016412086880259[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020792941572027 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020792941572027[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016862673204275 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016862673204275[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020764771917034 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020764771917034[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016647030438490 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016647030438490[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020314262047645 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020314262047645[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021480975731446 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021480975731446[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016896910608105 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016896910608105[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020127371947375 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020127371947375[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026224671762128 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026224671762128[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017081050954759 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017081050954759[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019810620842923 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019810620842923[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021477797246104 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021477797246104[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022089599137240 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022089599137240[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022662991557133 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022662991557133[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020800815929011 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020800815929011[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031969058709345 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031969058709345[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022917570324800 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022917570324800[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021891031506792 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021891031506792[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012965581218692 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012965581218692[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025143032246069 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025143032246069[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032632943994636 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032632943994636[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043631883019767 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043631883019767[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033541003045596 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033541003045596[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021505809534011 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021505809534011[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008228997025651 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008228997025651[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000746192662015 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000746192662015[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002222862583114 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002222862583114[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014556613585330 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014556613585330[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006047672560110 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006047672560110[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006506651248828 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006506651248828[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007024042881783 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007024042881783[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007215727179234 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007215727179234[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012318556421827 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012318556421827[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023961299635720 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023961299635720[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015511180451533 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015511180451533[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011289893476702 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011289893476702[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022296512787371 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022296512787371[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011326685710563 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011326685710563[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021440566122341 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021440566122341[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027323417947983 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027323417947983[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022613188698157 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022613188698157[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027387340066783 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027387340066783[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023161030697900 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023161030697900[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026245978632080 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026245978632080[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020450002227560 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020450002227560[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016187634882504 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016187634882504[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021080144033643 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021080144033643[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023738037676729 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023738037676729[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018390303082795 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018390303082795[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022483860414575 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022483860414575[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023697805732000 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023697805732000[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027156107863407 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027156107863407[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019717618332058 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019717618332058[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009912543421002 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009912543421002[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014609218517169 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014609218517169[0m ×2 + 31.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924437904529 + 31.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924437904529[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023161098878029 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023161098878029[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022574344516189 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022574344516189[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016417820735725 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016417820735725[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019693597262073 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019693597262073[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019402247287191 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019402247287191[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018915126757505 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018915126757505[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007809520134625 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007809520134625[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020382176318792 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020382176318792[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030248750253794 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030248750253794[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020262180901824 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020262180901824[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011031956028157 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011031956028157[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008124594089489 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008124594089489[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025392503263672 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025392503263672[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020799856533748 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020799856533748[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017256312977954 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017256312977954[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028832820393056 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028832820393056[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031221487947156 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031221487947156[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028422051690466 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028422051690466[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028422039276978 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028422039276978[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013190638813151 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013190638813151[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678913550570 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678913550570[0m ×2 + 32.17sWARNcontroller_managerOverrun might occur, Total time : 3945.221 us (Expected < 1666.667 us) --> Read time : 124.273 us, Update time : 39.951 us, Write time : 3780.997 us + 32.17sWARNros2_control_nodeOverrun might occur, Total time : 3945.221 us (Expected < 1666.667 us) --> Read time : 124.273 us, Update time : 39.951 us, Write time : 3780.997 us[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021801732310886 + 32.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021801732310886[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868117485153 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868117485153[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003593589354608 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003593589354608[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004136959506175 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004136959506175[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003665574904380 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003665574904380[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002959027791788 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002959027791788[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002836683449655 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002836683449655[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009265011827512 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009265011827512[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011249730230883 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011249730230883[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162343489185 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162343489185[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023022926221695 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023022926221695[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024522551381168 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024522551381168[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032508193467629 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032508193467629[0m ×2 + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449399 ms (missed cycles : 3). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449399 ms (missed cycles : 3).[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018162877973950 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018162877973950[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639965832543 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639965832543[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013421484745962 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013421484745962[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021590364931224 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021590364931224[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025230696139116 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025230696139116[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029029645329531 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029029645329531[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027978529357624 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027978529357624[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025727298410769 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025727298410769[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022978995497531 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022978995497531[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022979244126836 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022979244126836[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010549293551069 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010549293551069[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012300188015822 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012300188015822[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009204236322734 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009204236322734[0m ×2 + 32.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000360818982735 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000360818982735[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001255586586811 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001255586586811[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013717784244927 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013717784244927[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014944771375774 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014944771375774[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008562727236996 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008562727236996[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010707543827883 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010707543827883[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017471382247262 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017471382247262[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018594510427605 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018594510427605[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903759349148 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903759349148[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009439061583238 ×2 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009439061583238[0m ×4 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588567484377 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588567484377[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428293242841 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428293242841[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048861602100 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048861602100[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000506817243456 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000506817243456[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000195193057994 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000195193057994[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373979018698 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373979018698[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009050260787989 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009050260787989[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013240171078260 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013240171078260[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276540056092 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276540056092[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148078893562 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148078893562[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713819370756 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713819370756[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007574145804576 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007574145804576[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011468396627097 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011468396627097[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010200823893488 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010200823893488[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272430622431 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272430622431[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109171647022 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109171647022[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720849342580 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720849342580[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707044561039 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707044561039[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909421443062 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909421443062[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168674729254 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168674729254[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174820236119 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174820236119[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054205946742 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054205946742[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054217942226 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054217942226[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717681586549 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717681586549[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195390975643 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195390975643[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183435195366 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183435195366[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604168418052 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604168418052[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079828113554 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079828113554[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076427966203 ×2 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076427966203[0m ×4 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090419099332 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090419099332[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096028611083 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096028611083[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462894866550 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462894866550[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293976590031 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293976590031[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196117587644 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196117587644[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007488166543762 + 32.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007488166543762[0m ×2 + 32.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933623625728 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933623625728[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803236973173 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803236973173[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000511240768400 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000511240768400[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880217114312 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880217114312[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264914643008 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264914643008[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001560671097096 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001560671097096[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000431955111714 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000431955111714[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216464350820 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216464350820[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069652982501 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069652982501[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697351931813 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697351931813[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001127921174620 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001127921174620[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001050557799427 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001050557799427[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766355334298 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766355334298[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899642137098 + 33.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899642137098[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121733971903 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121733971903[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225185797053 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225185797053[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935508058968 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935508058968[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186409067763 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186409067763[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921957385134 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921957385134[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009100788483316 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009100788483316[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007301700569233 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007301700569233[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715479245553 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715479245553[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006777459797 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006777459797[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002187656351700 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002187656351700[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814326463515 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814326463515[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001146419460888 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001146419460888[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026283448087 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026283448087[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343418734889 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343418734889[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631710558850 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631710558850[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113173666636 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113173666636[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103106876273 + 33.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103106876273[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002318595198956 ×2 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002318595198956[0m ×4 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001175113009393 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001175113009393[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170169673850 + 33.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170169673850[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646030530312 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646030530312[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351183902675 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351183902675[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286712291946 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286712291946[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117040807700 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117040807700[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008510778768660 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008510778768660[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008511231447693 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008511231447693[0m ×2 + 33.33sWARNcontroller_managerOverrun might occur, Total time : 2124.209 us (Expected < 1666.667 us) --> Read time : 204.215 us, Update time : 815.838 us, Write time : 1104.156 us + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864025 ms (missed cycles : 2). + 33.34sWARNros2_control_nodeOverrun might occur, Total time : 2124.209 us (Expected < 1666.667 us) --> Read time : 204.215 us, Update time : 815.838 us, Write time : 1104.156 us[0m ×2 + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864025 ms (missed cycles : 2).[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009167157692042 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009167157692042[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495498552835 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495498552835[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313362350027 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313362350027[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064061509975 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064061509975[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007741362995 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007741362995[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006589345419074 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006589345419074[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007563890976724 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007563890976724[0m ×2 + 33.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588054022110 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588054022110[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066187097913 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066187097913[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448715682799 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448715682799[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231368167286 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231368167286[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689367813572 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689367813572[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535598881157 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535598881157[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829230705037 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829230705037[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005344428323 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005344428323[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078486940509 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078486940509[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119565406044 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119565406044[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714946190797 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714946190797[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497256491001 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497256491001[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520885025419 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520885025419[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180417609961 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180417609961[0m ×2 + 33.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605239016140 + 33.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605239016140[0m ×2 + 33.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277340147964 + 33.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277340147964[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050803629845 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050803629845[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854715405989 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854715405989[0m ×2 + 33.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042026495456 + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042026495456[0m ×2 + 33.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334254355349 + 33.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334254355349[0m ×2 + 33.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002512135799956 + 33.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002512135799956[0m ×2 + 33.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415591794174 + 33.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415591794174[0m ×2 + 33.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643470536883 + 33.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643470536883[0m ×2 + 33.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599224796259 ×2 + 33.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599224796259[0m ×4 + 33.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652200685232 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652200685232[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193399348174 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193399348174[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001207093323958 ×2 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001207093323958[0m ×4 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006263815112800 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006263815112800[0m ×2 + 33.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091965290440 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091965290440[0m ×2 + 33.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655620114186 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655620114186[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186927880482 + 33.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186927880482[0m ×2 + 33.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604077401483 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604077401483[0m ×2 + 33.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000839806531023 ×2 + 33.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000839806531023[0m ×4 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000375947144859 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000375947144859[0m ×2 + 33.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709704344161 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709704344161[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728207820428 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728207820428[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526759382376 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526759382376[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002442813940048 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002442813940048[0m ×2 + 33.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065608856781 + 33.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065608856781[0m ×2 + 33.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301347325681 + 33.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301347325681[0m ×2 + 33.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344080722828 + 33.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344080722828[0m ×2 + 33.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227225990637 ×2 + 33.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227225990637[0m ×4 + 33.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489461556971 + 33.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489461556971[0m ×2 + 33.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634315854854 + 33.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634315854854[0m ×2 + 33.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000990467558878 + 33.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000990467558878[0m ×2 + 33.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000985746834133 + 33.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000985746834133[0m ×2 + 33.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069355479283 + 33.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069355479283[0m ×2 + 33.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000477607153375 + 33.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000477607153375[0m ×2 + 33.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791495299052 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791495299052[0m ×2 + 33.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140165843811 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140165843811[0m ×2 + 33.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955197154497 + 33.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955197154497[0m ×2 + 33.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567696804106 + 33.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567696804106[0m ×2 + 33.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000782002610207 + 33.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000782002610207[0m ×2 + 33.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000901224069708 + 33.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000901224069708[0m ×2 + 33.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382820439129 + 33.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382820439129[0m ×2 + 33.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001056739904560 + 33.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001056739904560[0m ×2 + 34.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620523962804 + 34.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620523962804[0m ×2 + 34.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122070044701 + 34.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122070044701[0m ×2 + 34.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120645231375 + 34.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120645231375[0m ×2 + 34.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000645158969384 + 34.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000645158969384[0m ×2 + 34.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000405133781677 + 34.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000405133781677[0m ×2 + 34.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005316427127 + 34.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005316427127[0m ×2 + 34.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000528206864632 + 34.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000528206864632[0m ×2 + 34.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000526670403715 + 34.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000526670403715[0m ×2 + 34.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000737629873664 + 34.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000737629873664[0m ×2 + 34.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000611078996993 + 34.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000611078996993[0m ×2 + 34.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174755359553 + 34.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174755359553[0m ×2 + 34.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049551700573 + 34.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049551700573[0m ×2 + 34.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455283519371 + 34.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455283519371[0m ×2 + 34.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712651328177 + 34.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712651328177[0m ×2 + 34.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000677640586490 + 34.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000677640586490[0m ×2 + 34.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000693796368796 + 34.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000693796368796[0m ×2 + 34.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000647285933363 + 34.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000647285933363[0m ×2 + 34.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001031646254447 + 34.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001031646254447[0m ×2 + 34.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177546421366 + 34.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177546421366[0m ×2 + 34.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000343748540899 + 34.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000343748540899[0m ×2 + 34.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000546783019146 + 34.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000546783019146[0m ×2 + 34.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517144468289 + 34.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517144468289[0m ×2 + 34.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000499694077236 + 34.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000499694077236[0m ×2 + 34.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000460841866590 + 34.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000460841866590[0m ×2 + 34.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000412323758427 + 34.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000412323758427[0m ×2 + 34.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000624365082441 + 34.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000624365082441[0m ×2 + 34.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000348887965210 + 34.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000348887965210[0m ×2 + 34.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000361433768526 + 34.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000361433768526[0m ×2 + 34.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000356213946771 + 34.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000356213946771[0m ×2 + 34.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000525006270281 + 34.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000525006270281[0m ×2 + 34.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000443011022903 + 34.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000443011022903[0m ×2 + 34.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387209210182 + 34.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387209210182[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774331 ms (missed cycles : 3). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774331 ms (missed cycles : 3).[0m ×2 + 34.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230299363876 + 34.34sWARNcontroller_managerOverrun might occur, Total time : 1731.540 us (Expected < 1666.667 us) --> Read time : 1114.476 us, Update time : 75.332 us, Write time : 541.732 us + 34.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230299363876[0m ×2 + 34.34sWARNros2_control_nodeOverrun might occur, Total time : 1731.540 us (Expected < 1666.667 us) --> Read time : 1114.476 us, Update time : 75.332 us, Write time : 541.732 us[0m ×2 + 34.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183895278298 + 34.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183895278298[0m ×2 + 34.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173010115353 + 34.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173010115353[0m ×2 + 34.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300241039375 + 34.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300241039375[0m ×2 + 34.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286912686065 + 34.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286912686065[0m ×2 + 34.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269821672570 + 34.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269821672570[0m ×2 + 34.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251144219534 + 34.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251144219534[0m ×2 + 34.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163209340382 + 34.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163209340382[0m ×2 + 34.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177880095335 + 34.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177880095335[0m ×2 + 34.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183349368129 + 34.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183349368129[0m ×2 + 34.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182428058241 + 34.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182428058241[0m ×2 + 34.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177747941285 + 34.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177747941285[0m ×2 + 34.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000252947393397 + 34.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000252947393397[0m ×2 + 34.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213402880132 + 34.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213402880132[0m ×2 + 34.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183614687540 + 34.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183614687540[0m ×2 + 34.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161707871649 + 34.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161707871649[0m ×2 + 34.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145553922173 + 34.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145553922173[0m ×2 + 34.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133529808031 + 34.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133529808031[0m ×2 + 34.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124254088092 + 34.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124254088092[0m ×2 + 34.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116738242847 + 34.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116738242847[0m ×2 + 34.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165875002550 + 34.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165875002550[0m ×2 + 34.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137880490163 + 34.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137880490163[0m ×2 + 34.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117822248930 + 34.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117822248930[0m ×2 + 34.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159399959652 + 34.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159399959652[0m ×2 + 34.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127024287409 + 34.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127024287409[0m ×2 + 34.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104732396103 + 34.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104732396103[0m ×2 + 34.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089668089293 + 34.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089668089293[0m ×2 + 34.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123077800432 + 34.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123077800432[0m ×2 + 34.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098090249466 + 34.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098090249466[0m ×2 + 34.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039601579530 + 34.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039601579530[0m ×2 + 34.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068830552339 + 34.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068830552339[0m ×2 + 34.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064308822760 + 34.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064308822760[0m ×2 + 34.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059831688655 + 34.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059831688655[0m ×2 + 34.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055762757556 + 34.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055762757556[0m ×2 + 34.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051955772476 + 34.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051955772476[0m ×2 + 34.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048526113955 + 34.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048526113955[0m ×2 + 34.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067841593778 + 34.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067841593778[0m ×2 + 34.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056105915435 + 34.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056105915435[0m ×2 + 34.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047558004697 + 34.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047558004697[0m ×2 + 34.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028314527514 + 34.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028314527514[0m ×2 + 34.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029781845764 + 34.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029781845764[0m ×2 + 34.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030193265875 + 34.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030193265875[0m ×2 + 34.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043644287225 + 34.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043644287225[0m ×2 + 34.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037167415032 + 34.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037167415032[0m ×2 + 34.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032219399176 + 34.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032219399176[0m ×2 + 34.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028543356288 + 34.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028543356288[0m ×2 + 34.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025738135450 + 34.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025738135450[0m ×2 + 34.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023582397021 + 34.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023582397021[0m ×2 + 34.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021839554104 + 34.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021839554104[0m ×2 + 34.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020413862871 + 34.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020413862871[0m ×2 + 34.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019149894376 + 34.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019149894376[0m ×2 + 34.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018012830452 + 34.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018012830452[0m ×2 + 34.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016986771841 + 34.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016986771841[0m ×2 + 34.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023861297981 + 34.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023861297981[0m ×2 + 34.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019841566973 + 34.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019841566973[0m ×2 + 34.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016886258114 + 34.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016886258114[0m ×2 + 34.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014783305412 + 34.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014783305412[0m ×2 + 34.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020194830479 + 34.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020194830479[0m ×2 + 34.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016262431311 + 34.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016262431311[0m ×2 + 34.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013537399190 + 34.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013537399190[0m ×2 + 34.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011670376221 + 34.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011670376221[0m ×2 + 34.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015935522181 + 34.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015935522181[0m ×2 + 34.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012737421063 + 34.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012737421063[0m ×2 + 34.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010566101355 + 34.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010566101355[0m ×2 + 34.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014132727205 + 34.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014132727205[0m ×2 + 34.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011087707649 + 34.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011087707649[0m ×2 + 34.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009034720125 + 34.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009034720125[0m ×2 + 34.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007685089025 + 34.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007685089025[0m ×2 + 34.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010505095573 + 34.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010505095573[0m ×2 + 34.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005482912269 + 34.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005482912269[0m ×2 + 34.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003785412373 + 34.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003785412373[0m ×2 + 34.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006197494293 + 34.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006197494293[0m ×2 + 35.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005627640779 + 35.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005627640779[0m ×2 + 35.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003619526145 + 35.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003619526145[0m ×2 + 35.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002888464842 + 35.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002888464842[0m ×2 + 35.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002632351470 + 35.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002632351470[0m ×2 + 35.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003148831269 + 35.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003148831269[0m ×2 + 35.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004680545555 + 35.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004680545555[0m ×2 + 35.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004167612854 + 35.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004167612854[0m ×2 + 35.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003691820515 + 35.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003691820515[0m ×2 + 35.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003289307278 + 35.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003289307278[0m ×2 + 35.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004467280844 + 35.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004467280844[0m ×2 + 35.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003622560328 + 35.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003622560328[0m ×2 + 35.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003024225996 + 35.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003024225996[0m ×2 + 35.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002591478092 + 35.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002591478092[0m ×2 + 35.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003520538913 + 35.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003520538913[0m ×2 + 35.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002820804093 + 35.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002820804093[0m ×2 + 35.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002340166022 + 35.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002340166022[0m ×2 + 35.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001359277333 + 35.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001359277333[0m ×2 + 35.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001420685058 + 35.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001420685058[0m ×2 + 35.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001460288547 + 35.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001460288547[0m ×2 + 35.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001434963629 + 35.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001434963629[0m ×2 + 35.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001399007287 + 35.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001399007287[0m ×2 + 35.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001342374123 + 35.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001342374123[0m ×2 + 35.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001885426766 + 35.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001885426766[0m ×2 + 35.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001568088757 + 35.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001568088757[0m ×2 + 35.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001343664840 + 35.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001343664840[0m ×2 + 35.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001793812019 + 35.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001793812019[0m ×2 + 35.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001431312661 + 35.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001431312661[0m ×2 + 35.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001174895125 + 35.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001174895125[0m ×2 + 35.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000999980947 + 35.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000999980947[0m ×2 + 35.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000602742516 + 35.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000602742516[0m ×2 + 35.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000936094494 + 35.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000936094494[0m ×2 + 35.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000822761007 + 35.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000822761007[0m ×2 + 35.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000741604457 + 35.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000741604457[0m ×2 + 35.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001021238887 + 35.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001021238887[0m ×2 + 35.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000831743419 + 35.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000831743419[0m ×2 + 35.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000692507610 + 35.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000692507610[0m ×2 + 35.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000603617833 + 35.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000603617833[0m ×2 + 35.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000822481533 + 35.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000822481533[0m ×2 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748260 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748260 ms (missed cycles : 2).[0m ×2 + 35.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430630962 + 35.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430630962[0m ×2 + 35.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000423777912 + 35.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000423777912[0m ×2 + 35.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000398926251 + 35.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000398926251[0m ×2 + 35.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000378891301 + 35.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000378891301[0m ×2 + 35.38sWARNcontroller_managerOverrun might occur, Total time : 2055.797 us (Expected < 1666.667 us) --> Read time : 189.824 us, Update time : 1358.112 us, Write time : 507.861 us + 35.38sWARNros2_control_nodeOverrun might occur, Total time : 2055.797 us (Expected < 1666.667 us) --> Read time : 189.824 us, Update time : 1358.112 us, Write time : 507.861 us[0m ×2 + 35.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352449900 + 35.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352449900[0m ×2 + 35.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000347634470 + 35.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000347634470[0m ×2 + 35.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000331867046 + 35.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000331867046[0m ×2 + 35.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000315276485 + 35.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000315276485[0m ×2 + 35.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289137490 + 35.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289137490[0m ×2 + 35.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000271638736 + 35.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000271638736[0m ×2 + 35.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000381278107 + 35.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000381278107[0m ×2 + 35.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000313859065 + 35.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000313859065[0m ×2 + 35.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180855811 + 35.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180855811[0m ×2 + 35.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000267826987 + 35.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000267826987[0m ×2 + 35.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000166236628 + 35.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000166236628[0m ×2 + 35.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161083247 + 35.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161083247[0m ×2 + 35.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162668991 + 35.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162668991[0m ×2 + 35.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160432261 + 35.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160432261[0m ×2 + 35.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000221037696 + 35.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000221037696[0m ×2 + 35.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180954801 + 35.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180954801[0m ×2 + 35.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159034794 + 35.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159034794[0m ×2 + 35.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000132970125 + 35.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000132970125[0m ×2 + 35.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200039513 + 35.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200039513[0m ×2 + 35.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000157461108 + 35.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000157461108[0m ×2 + 35.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000134738495 + 35.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000134738495[0m ×2 + 35.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000840915081 + 35.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000840915081[0m ×2 + 35.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000147621383 + 35.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000147621383[0m ×2 + 35.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000540240868 + 35.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000540240868[0m ×2 + 35.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000508679392 + 35.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000508679392[0m ×2 + 35.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000500421642 + 35.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000500421642[0m ×2 + 35.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000471492797 + 35.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000471492797[0m ×2 + 35.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444504947 + 35.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444504947[0m ×2 + 35.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000542750870 + 35.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000542750870[0m ×2 + 35.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000481439536 + 35.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000481439536[0m ×2 + 35.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000436575379 + 35.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000436575379[0m ×2 + 35.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000405445051 + 35.67sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000405445051[0m ×2 + 35.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000372983705 + 35.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000372983705[0m ×2 + 35.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339690587 + 35.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339690587[0m ×2 + 35.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000335012143 + 35.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000335012143[0m ×2 + 35.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000366043302 + 35.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000366043302[0m ×2 + 35.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000320594235 + 35.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000320594235[0m ×2 + 35.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000293631206 + 35.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000293631206[0m ×2 + 35.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369039385 + 35.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369039385[0m ×2 + 35.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000300002354 + 35.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000300002354[0m ×2 + 35.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000213514426 + 35.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000213514426[0m ×2 + 35.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000182819775 + 35.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000182819775[0m ×2 + 35.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000156214383 + 35.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000156214383[0m ×2 + 35.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000168626402 + 35.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000168626402[0m ×2 + 35.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177992037 + 35.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177992037[0m ×2 + 35.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178364485 + 35.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178364485[0m ×2 + 35.84sINFOjoint_trajectory_controllerAccepted new action goal ×615 + 35.84sINFOros2_control_nodeAccepted new action goal[0m ×1230 + 35.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000121983714 + 35.85sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000121983714[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868848 ms (missed cycles : 2). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868848 ms (missed cycles : 2).[0m ×2 + 36.44sWARNcontroller_managerOverrun might occur, Total time : 3631.903 us (Expected < 1666.667 us) --> Read time : 251.455 us, Update time : 2683.392 us, Write time : 697.056 us + 36.44sWARNros2_control_nodeOverrun might occur, Total time : 3631.903 us (Expected < 1666.667 us) --> Read time : 251.455 us, Update time : 2683.392 us, Write time : 697.056 us[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242817 ms (missed cycles : 2). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242817 ms (missed cycles : 2).[0m ×2 + 37.62sWARNcontroller_managerOverrun might occur, Total time : 3766.076 us (Expected < 1666.667 us) --> Read time : 363.198 us, Update time : 1297.530 us, Write time : 2105.348 us + 37.62sWARNros2_control_nodeOverrun might occur, Total time : 3766.076 us (Expected < 1666.667 us) --> Read time : 363.198 us, Update time : 1297.530 us, Write time : 2105.348 us[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289965 ms (missed cycles : 5). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289965 ms (missed cycles : 5).[0m ×2 + 38.69sWARNcontroller_managerOverrun might occur, Total time : 5972.267 us (Expected < 1666.667 us) --> Read time : 276.976 us, Update time : 5140.659 us, Write time : 554.632 us + 38.69sWARNros2_control_nodeOverrun might occur, Total time : 5972.267 us (Expected < 1666.667 us) --> Read time : 276.976 us, Update time : 5140.659 us, Write time : 554.632 us[0m ×2 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113990 ms (missed cycles : 5). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113990 ms (missed cycles : 5).[0m ×2 + 40.00sWARNcontroller_managerOverrun might occur, Total time : 7912.573 us (Expected < 1666.667 us) --> Read time : 180.154 us, Update time : 7040.763 us, Write time : 691.656 us + 40.00sWARNros2_control_nodeOverrun might occur, Total time : 7912.573 us (Expected < 1666.667 us) --> Read time : 180.154 us, Update time : 7040.763 us, Write time : 691.656 us[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533348 ms (missed cycles : 3). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533348 ms (missed cycles : 3).[0m ×2 + 41.01sWARNcontroller_managerOverrun might occur, Total time : 4044.112 us (Expected < 1666.667 us) --> Read time : 183.844 us, Update time : 80.862 us, Write time : 3779.406 us + 41.02sWARNros2_control_nodeOverrun might occur, Total time : 4044.112 us (Expected < 1666.667 us) --> Read time : 183.844 us, Update time : 80.862 us, Write time : 3779.406 us[0m ×2 + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892528 ms (missed cycles : 3). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892528 ms (missed cycles : 3).[0m ×2 + 41.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781130557.70038819 seconds ×3 + 42.12sINFOjoint_trajectory_controllerGoal reached, success! + 42.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 42.12sWARNcontroller_managerOverrun might occur, Total time : 1889.904 us (Expected < 1666.667 us) --> Read time : 110.683 us, Update time : 1308.520 us, Write time : 470.701 us + 42.12sWARNros2_control_nodeOverrun might occur, Total time : 1889.904 us (Expected < 1666.667 us) --> Read time : 110.683 us, Update time : 1308.520 us, Write time : 470.701 us[0m ×2 + 42.31sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781130558.34253097 seconds. ×3 + 42.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 42.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773590 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773590 ms (missed cycles : 2).[0m ×2 + 42.71sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 42.71sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 43.26sWARNcontroller_managerOverrun might occur, Total time : 1695.400 us (Expected < 1666.667 us) --> Read time : 452.461 us, Update time : 172.044 us, Write time : 1070.895 us + 43.26sWARNros2_control_nodeOverrun might occur, Total time : 1695.400 us (Expected < 1666.667 us) --> Read time : 452.461 us, Update time : 172.044 us, Write time : 1070.895 us[0m ×2 + 43.42sINFOobjective_server_nodeFound path in 6 iterations (0.00506599 s). ×2 + 43.48sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 43.49sINFOros2_control_node[2026-06-10 22:29:19.529] [info] Received new action goal ×2 + 43.49sINFOros2_control_node[2026-06-10 22:29:19.529] [info] Accepted new action goal ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187667 ms (missed cycles : 2). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187667 ms (missed cycles : 2).[0m ×2 + 44.36sWARNcontroller_managerOverrun might occur, Total time : 2252.022 us (Expected < 1666.667 us) --> Read time : 564.983 us, Update time : 97.982 us, Write time : 1589.057 us + 44.37sWARNros2_control_nodeOverrun might occur, Total time : 2252.022 us (Expected < 1666.667 us) --> Read time : 564.983 us, Update time : 97.982 us, Write time : 1589.057 us[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.447370 ms (missed cycles : 4). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.447370 ms (missed cycles : 4).[0m ×2
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	38.0s	6465 errors · 255 warnings · 6631 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2129.771 us (Expected < 1666.667 us) --> Read time : 335.218 us, Update time : 1278.650 us, Write time : 515.903 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2129.771 us (Expected < 1666.667 us) --> Read time : 335.218 us, Update time : 1278.650 us, Write time : 515.903 us[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986504 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986504 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1818.953 us (Expected < 1666.667 us) --> Read time : 849.600 us, Update time : 44.431 us, Write time : 924.922 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1818.953 us (Expected < 1666.667 us) --> Read time : 849.600 us, Update time : 44.431 us, Write time : 924.922 us[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857385 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857385 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580784 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580784 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 5781.967 us (Expected < 1666.667 us) --> Read time : 306.587 us, Update time : 73.442 us, Write time : 5401.938 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 5781.967 us (Expected < 1666.667 us) --> Read time : 306.587 us, Update time : 73.442 us, Write time : 5401.938 us[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135245 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135245 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781130479.54420972 seconds ×3 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 2214.712 us (Expected < 1666.667 us) --> Read time : 168.684 us, Update time : 56.981 us, Write time : 1989.047 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 2214.712 us (Expected < 1666.667 us) --> Read time : 168.684 us, Update time : 56.981 us, Write time : 1989.047 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781130480.16378951 seconds. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.31sINFOros2_control_node[2026-06-10 22:28:00.319] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-06-10 22:28:00.319] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385779 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385779 ms (missed cycles : 4).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 9141.907 us (Expected < 1666.667 us) --> Read time : 234.046 us, Update time : 86.742 us, Write time : 8821.119 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 9141.907 us (Expected < 1666.667 us) --> Read time : 234.046 us, Update time : 86.742 us, Write time : 8821.119 us[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712097 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712097 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.60sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 6.06sWARNcontroller_managerOverrun might occur, Total time : 7811.916 us (Expected < 1666.667 us) --> Read time : 213.575 us, Update time : 7006.147 us, Write time : 592.194 us + 6.07sWARNros2_control_nodeOverrun might occur, Total time : 7811.916 us (Expected < 1666.667 us) --> Read time : 213.575 us, Update time : 7006.147 us, Write time : 592.194 us[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539105 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539105 ms (missed cycles : 4).[0m ×2 + 7.14sWARNcontroller_managerOverrun might occur, Total time : 1720.000 us (Expected < 1666.667 us) --> Read time : 299.347 us, Update time : 479.461 us, Write time : 941.192 us + 7.14sWARNros2_control_nodeOverrun might occur, Total time : 1720.000 us (Expected < 1666.667 us) --> Read time : 299.347 us, Update time : 479.461 us, Write time : 941.192 us[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491176 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491176 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun might occur, Total time : 2380.976 us (Expected < 1666.667 us) --> Read time : 160.534 us, Update time : 1765.882 us, Write time : 454.560 us + 8.27sWARNros2_control_nodeOverrun might occur, Total time : 2380.976 us (Expected < 1666.667 us) --> Read time : 160.534 us, Update time : 1765.882 us, Write time : 454.560 us[0m ×2 + 8.58sINFOjoint_trajectory_controllerReceived new action goal ×2153 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000557200778447 + 8.58sINFOros2_control_nodeReceived new action goal[0m ×4306 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000557200778447[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000528056573669 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000528056573669[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387025417960 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387025417960[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467400 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467400 ms (missed cycles : 2).[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430910637381 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430910637381[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358650559966 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358650559966[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029786792726 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029786792726[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072691110759 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072691110759[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221684154933 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221684154933[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024966486912 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024966486912[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279161607263 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279161607263[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000189656118571 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000189656118571[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071156132437 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071156132437[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070408240115 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070408240115[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072550802119 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072550802119[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264680518622 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264680518622[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021940782622 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021940782622[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302647770341 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302647770341[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689374382823 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689374382823[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286863812777 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286863812777[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103229399797 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103229399797[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007098973692 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007098973692[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139023173595 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139023173595[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150859065902 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150859065902[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000262699113351 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000262699113351[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000720977296837 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000720977296837[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000401296809645 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000401296809645[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060499256317 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060499256317[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138795248259 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138795248259[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182099565321 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182099565321[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076023517565 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076023517565[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000469297021327 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000469297021327[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874167272176 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874167272176[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456362518779 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456362518779[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567586195594 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567586195594[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247167378256 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247167378256[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051141823040 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051141823040[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000437151461684 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000437151461684[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299232206212 ×2 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299232206212[0m ×4 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438552710858 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438552710858[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259088857178 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259088857178[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086448986366 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086448986366[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000110535734426 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000110535734426[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000985223831234 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000985223831234[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000414866886220 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000414866886220[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225714021206 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225714021206[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174619400906 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174619400906[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044490239474 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044490239474[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070441958467 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070441958467[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070247477606 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070247477606[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001892753575 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001892753575[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111710902289 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111710902289[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005532096928 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005532096928[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037581220219 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037581220219[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163305217626 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163305217626[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154265601952 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154265601952[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166187778354 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166187778354[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124649681807 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124649681807[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090929388377 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090929388377[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064667429521 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064667429521[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044308794133 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044308794133[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029105157622 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029105157622[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103517909064 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103517909064[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010483861542 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010483861542[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078552755717 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078552755717[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285522804784 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285522804784[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167104805419 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167104805419[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087005018561 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087005018561[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095735670674 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095735670674[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040052111257 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040052111257[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193710614722 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193710614722[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160869910699 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160869910699[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000417103295352 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000417103295352[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222822696290 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222822696290[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099847668429 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099847668429[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045770386131 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045770386131[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109122531724 ×2 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109122531724[0m ×4 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044662197913 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044662197913[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010329964470 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010329964470[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000345337252207 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000345337252207[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008901718608 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008901718608[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127990420618 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127990420618[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123783339250 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123783339250[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062174845401 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062174845401[0m ×2 + 9.48sWARNcontroller_managerOverrun might occur, Total time : 3734.858 us (Expected < 1666.667 us) --> Read time : 184.994 us, Update time : 61.942 us, Write time : 3487.922 us + 9.48sWARNros2_control_nodeOverrun might occur, Total time : 3734.858 us (Expected < 1666.667 us) --> Read time : 184.994 us, Update time : 61.942 us, Write time : 3487.922 us[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065360944850 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065360944850[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182109565348 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182109565348[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088302069591 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088302069591[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154195056513 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154195056513[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429641637550 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429641637550[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000570136120365 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000570136120365[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209457102535 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209457102535[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042142052560 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042142052560[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550978377660 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550978377660[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000965066280438 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000965066280438[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001197213114567 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001197213114567[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306740171619 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306740171619[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001342913100965 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001342913100965[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336990127773 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336990127773[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916652 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916652 ms (missed cycles : 2).[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871822586459 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871822586459[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188153965296 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188153965296[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001760618138334 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001760618138334[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791991432406 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791991432406[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001492477414073 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001492477414073[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332548125862 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332548125862[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195454394305 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195454394305[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896904332183 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896904332183[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001013234627900 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001013234627900[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000753957912757 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000753957912757[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200368887197 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200368887197[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166335922484 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166335922484[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182471871871 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182471871871[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360085236843 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360085236843[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447011718872 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447011718872[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370294121968 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370294121968[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000586149730741 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000586149730741[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537129532826 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537129532826[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917812799044 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917812799044[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148029069229 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148029069229[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530686227257 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530686227257[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002103609098019 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002103609098019[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818122674336 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818122674336[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603504171741 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603504171741[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446591548305 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446591548305[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829791427528 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829791427528[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573350233646 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573350233646[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001402451333842 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001402451333842[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001410846420301 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001410846420301[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463037662127 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463037662127[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000724218701190 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000724218701190[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420909579947 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420909579947[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983892374420 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983892374420[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702082799886 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702082799886[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508857813925 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508857813925[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382240583188 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382240583188[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691074910371 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691074910371[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001501555095099 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001501555095099[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379591693869 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379591693869[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781947861122 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781947861122[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255753574061 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255753574061[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001266938391842 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001266938391842[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001043636125132 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001043636125132[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001752144266728 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001752144266728[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002229026426532 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002229026426532[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001860995666267 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001860995666267[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000870135895532 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000870135895532[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617173607899 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617173607899[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000920141832946 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000920141832946[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814702927197 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814702927197[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648031685684 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648031685684[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001546134725198 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001546134725198[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571481790695 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571481790695[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506632320147 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506632320147[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467440115210 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467440115210[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061429683520 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061429683520[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782680966664 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782680966664[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001597797824868 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001597797824868[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479071543380 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479071543380[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407600216821 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407600216821[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371573942185 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371573942185[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234098646799 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234098646799[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851054694185 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851054694185[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356992995408 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356992995408[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762973163037 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762973163037[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885362588638 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885362588638[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001217594268416 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001217594268416[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001290883358887 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001290883358887[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350916139237 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350916139237[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001390313298605 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001390313298605[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683058914844 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683058914844[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593593417060 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593593417060[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356010789471 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356010789471[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680328210467 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680328210467[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748805870664 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748805870664[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358475000558 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358475000558[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048096880373 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048096880373[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824503097020 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824503097020[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873854311288 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873854311288[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757326958927 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757326958927[0m ×2 + 10.50sWARNcontroller_managerOverrun might occur, Total time : 2134.871 us (Expected < 1666.667 us) --> Read time : 423.090 us, Update time : 1199.999 us, Write time : 511.782 us + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002316681283709 + 10.50sWARNros2_control_nodeOverrun might occur, Total time : 2134.871 us (Expected < 1666.667 us) --> Read time : 423.090 us, Update time : 1199.999 us, Write time : 511.782 us[0m ×2 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002316681283709[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002032148464754 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002032148464754[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787361851047 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787361851047[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608957329179 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608957329179[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559524807062 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559524807062[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500703650334 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500703650334[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385872737712 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385872737712[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723808630827 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723808630827[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762507096664 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762507096664[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755919317155 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755919317155[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544266 ms (missed cycles : 5). + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387275936266 + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544266 ms (missed cycles : 5).[0m ×2 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387275936266[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002080372808964 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002080372808964[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530626367460 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530626367460[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002243636611413 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002243636611413[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996657120558 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996657120558[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500292518123 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500292518123[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116266234687 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116266234687[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851288763816 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851288763816[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682384447046 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682384447046[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116460248034 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116460248034[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961407878998 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961407878998[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002455865755722 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002455865755722[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839236496035 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839236496035[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967836440588 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967836440588[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432442703644 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432442703644[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100512254522 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100512254522[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001045091285073 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001045091285073[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888544246580 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888544246580[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438450566639 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438450566639[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107129521158 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107129521158[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076986808080 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076986808080[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493907917400 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493907917400[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027958867125 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027958867125[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419583041848 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419583041848[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002180899887588 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002180899887588[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113286182492 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113286182492[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919535543005 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919535543005[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161375586477 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161375586477[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001146229527187 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001146229527187[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273574523585 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273574523585[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106001843363 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106001843363[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001977587970287 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001977587970287[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001143523403538 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001143523403538[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483060480699 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483060480699[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483134295504 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483134295504[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097983295995 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097983295995[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114969306943 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114969306943[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000707569144540 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000707569144540[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155597588526 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155597588526[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001576085292586 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001576085292586[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484413200747 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484413200747[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991832817478 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991832817478[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018121953039 ×2 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018121953039[0m ×4 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750988871599 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750988871599[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532679756734 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532679756734[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817809586362 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817809586362[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904300284195 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904300284195[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002406952468987 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002406952468987[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478661321423 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478661321423[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078750962996 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078750962996[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836302448485 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836302448485[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137313302597 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137313302597[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594116140918 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594116140918[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563677042028 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563677042028[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533275304853 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533275304853[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904299265845 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904299265845[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607224780522 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607224780522[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280538737896 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280538737896[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001731420359183 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001731420359183[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002480452803428 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002480452803428[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965981241970 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965981241970[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219234240814 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219234240814[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618615806970 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618615806970[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080447860139 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080447860139[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499765215672 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499765215672[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844362549838 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844362549838[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333294334757 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333294334757[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002735317812230 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002735317812230[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811596771699 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811596771699[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195910557095 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195910557095[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636134632770 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636134632770[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425796336146 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425796336146[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919175444816 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919175444816[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204921599943 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204921599943[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622159868061 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622159868061[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962588981822 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962588981822[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435118739218 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435118739218[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902601980151 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902601980151[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002383845146622 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002383845146622[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787109765169 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787109765169[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334633176986 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334633176986[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002042539914254 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002042539914254[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630073401271 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630073401271[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001926100930 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001926100930[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486090853794 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486090853794[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956099978597 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956099978597[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157269945377 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157269945377[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002549929776207 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002549929776207[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893878626601 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893878626601[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377527068278 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377527068278[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060336000421 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060336000421[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532268241034 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532268241034[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873281 ms (missed cycles : 5). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873281 ms (missed cycles : 5).[0m ×2 + 11.64sWARNcontroller_managerOverrun might occur, Total time : 2340.036 us (Expected < 1666.667 us) --> Read time : 1629.929 us, Update time : 112.722 us, Write time : 597.385 us + 11.64sWARNros2_control_nodeOverrun might occur, Total time : 2340.036 us (Expected < 1666.667 us) --> Read time : 1629.929 us, Update time : 112.722 us, Write time : 597.385 us[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941011184369 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941011184369[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629556841296 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629556841296[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638445851554 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638445851554[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605518094708 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605518094708[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544634919464 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544634919464[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047114999575 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047114999575[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624971334762 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624971334762[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982836426929 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982836426929[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515974593810 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515974593810[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867417891803 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867417891803[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871961681549 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871961681549[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485260330928 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485260330928[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894955998366 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894955998366[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159695793646 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159695793646[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567844111698 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567844111698[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936694627805 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936694627805[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194661788922 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194661788922[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002585420872785 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002585420872785[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943903077061 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943903077061[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182775855903 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182775855903[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830529703618 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830529703618[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555494299523 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555494299523[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017807340940 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017807340940[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292341749276 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292341749276[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441589977834 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441589977834[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003510459817219 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003510459817219[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524224813238 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524224813238[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513886962739 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513886962739[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748550231195 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748550231195[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013877748433 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013877748433[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192191979006 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192191979006[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306648735835 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306648735835[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447181382230 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447181382230[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711313411497 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711313411497[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700990257149 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700990257149[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971840109364 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971840109364[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002704292329364 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002704292329364[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154575298401 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154575298401[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410499658253 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410499658253[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538877298157 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538877298157[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955826178362 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955826178362[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642999913458 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642999913458[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077558289681 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077558289681[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335017550303 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335017550303[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473415583194 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473415583194[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535625107636 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535625107636[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552618498528 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552618498528[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545188264798 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545188264798[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526680731615 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526680731615[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505080511713 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505080511713[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484792184529 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484792184529[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468002355773 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468002355773[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455562173844 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455562173844[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446536374797 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446536374797[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440759197975 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440759197975[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701396837909 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701396837909[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599866223248 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599866223248[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530264647178 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530264647178[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827467171272 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827467171272[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999865956631 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999865956631[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041169491797 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041169491797[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865556650967 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865556650967[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727889563122 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727889563122[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625444404360 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625444404360[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552505547345 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552505547345[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502884175679 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502884175679[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470778311986 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470778311986[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731176563714 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731176563714[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904269212670 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904269212670[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758709428129 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758709428129[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648933635873 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648933635873[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569588933434 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569588933434[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050406714694 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050406714694[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003814123876399 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003814123876399[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651768431294 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651768431294[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825364598746 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825364598746[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913174273509 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913174273509[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132022012005 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132022012005[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957216648215 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957216648215[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807560615540 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807560615540[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694340663487 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694340663487[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239851551566 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239851551566[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915829379245 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915829379245[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694884319414 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694884319414[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551612339823 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551612339823[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003464173524506 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003464173524506[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349246832127 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349246832127[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966527387616 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966527387616[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710779456097 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710779456097[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548368145611 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548368145611[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451851880866 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451851880866[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335400256316 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335400256316[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950096929129 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950096929129[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694674602887 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694674602887[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534098601936 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177675 ms (missed cycles : 5). + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534098601936[0m ×2 + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177675 ms (missed cycles : 5).[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755638716393 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755638716393[0m ×2 + 12.65sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.91sWARNcontroller_managerOverrun might occur, Total time : 3718.359 us (Expected < 1666.667 us) --> Read time : 182.924 us, Update time : 2945.251 us, Write time : 590.184 us + 12.91sWARNros2_control_nodeOverrun might occur, Total time : 3718.359 us (Expected < 1666.667 us) --> Read time : 182.924 us, Update time : 2945.251 us, Write time : 590.184 us[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722670 ms (missed cycles : 7). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722670 ms (missed cycles : 7).[0m ×2 + 14.02sWARNcontroller_managerOverrun might occur, Total time : 2545.361 us (Expected < 1666.667 us) --> Read time : 253.336 us, Update time : 740.108 us, Write time : 1551.917 us + 14.02sWARNros2_control_nodeOverrun might occur, Total time : 2545.361 us (Expected < 1666.667 us) --> Read time : 253.336 us, Update time : 740.108 us, Write time : 1551.917 us[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503994 ms (missed cycles : 5). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503994 ms (missed cycles : 5).[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057743167072 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057743167072[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000498537110750 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000498537110750[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218030378892 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218030378892[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133343097294 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133343097294[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155271647953 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155271647953[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116034403448 ×2 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116034403448[0m ×4 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141979531869 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141979531869[0m ×2 + 15.13sWARNcontroller_managerOverrun might occur, Total time : 4023.037 us (Expected < 1666.667 us) --> Read time : 225.136 us, Update time : 3163.975 us, Write time : 633.926 us + 15.14sWARNros2_control_nodeOverrun might occur, Total time : 4023.037 us (Expected < 1666.667 us) --> Read time : 225.136 us, Update time : 3163.975 us, Write time : 633.926 us[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074013999665 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074013999665[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077154125315 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077154125315[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057856578297 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057856578297[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000470019601008 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000470019601008[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440148672544 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440148672544[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000842998324644 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000842998324644[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000539819989413 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000539819989413[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410308676879 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410308676879[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001051422467373 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001051422467373[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495274740910 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495274740910[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289059685711 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289059685711[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360714395633 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360714395633[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410906394971 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410906394971[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000181502310713 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000181502310713[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000347917852425 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000347917852425[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419907794530 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419907794530[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000178838867607 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000178838867607[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759966335174 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759966335174[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412476303217 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412476303217[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656247957522 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656247957522[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129862621837 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129862621837[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002838851357451 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002838851357451[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001546988614850 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001546988614850[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667899526646 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667899526646[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635805193171 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635805193171[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118270981576 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118270981576[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166117764725 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166117764725[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001111774908365 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001111774908365[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619168372160 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619168372160[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404390909889 ×2 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404390909889[0m ×4 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000793639651688 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000793639651688[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459668328926 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459668328926[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000657263269616 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000657263269616[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089240942017 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089240942017[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095302505203 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095302505203[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479670880101 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479670880101[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079421446144 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079421446144[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087125973075 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087125973075[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087243962063 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087243962063[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004404115199 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004404115199[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289362978991 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289362978991[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048722280242 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048722280242[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332335612651 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332335612651[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002209721535885 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002209721535885[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514455326894 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514455326894[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514593349280 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514593349280[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923762767020 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923762767020[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631699051881 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631699051881[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000980801096090 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000980801096090[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000370647902983 ×2 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000370647902983[0m ×4 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012665456382 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012665456382[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847314 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847314 ms (missed cycles : 2).[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174958351203 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174958351203[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241387315133 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241387315133[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000248878590749 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000248878590749[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001327616162484 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001327616162484[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776132751405 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776132751405[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002470074281944 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002470074281944[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403458773059 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403458773059[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000305188928154 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000305188928154[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745397081290 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745397081290[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265041924394 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265041924394[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880194654087 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880194654087[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000960912472145 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000960912472145[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338024190144 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338024190144[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000226766160065 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000226766160065[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000383800046587 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000383800046587[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411579978853 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411579978853[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349685393517 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349685393517[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000362194427972 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000362194427972[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865237787014 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865237787014[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702792922987 ×2 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702792922987[0m ×4 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397483868032 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397483868032[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082614651549 ×2 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082614651549[0m ×4 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500262131200 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500262131200[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415081485427 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415081485427[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894310616907 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894310616907[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369941969134 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369941969134[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055884491766 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055884491766[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055517355401 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055517355401[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183699853738 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183699853738[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232336397872 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232336397872[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667060016653 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667060016653[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155195771115 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155195771115[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129118490436 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129118490436[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000470109279122 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000470109279122[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074768425104 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074768425104[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138924594257 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138924594257[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234496340682 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234496340682[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234577392880 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234577392880[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258234396748 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258234396748[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304417735607 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304417735607[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373872992849 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373872992849[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054021320276 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054021320276[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070120745893 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070120745893[0m ×2 + 16.15sWARNcontroller_managerOverrun might occur, Total time : 3571.575 us (Expected < 1666.667 us) --> Read time : 882.571 us, Update time : 2116.350 us, Write time : 572.654 us + 16.15sWARNros2_control_nodeOverrun might occur, Total time : 3571.575 us (Expected < 1666.667 us) --> Read time : 882.571 us, Update time : 2116.350 us, Write time : 572.654 us[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023247743141 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023247743141[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023152235598 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023152235598[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126388694684 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126388694684[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136712943689 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136712943689[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082545648815 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082545648815[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044444324690 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044444324690[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115504911041 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115504911041[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466745333937 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466745333937[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285322196188 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285322196188[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159769297796 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159769297796[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023570517358 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023570517358[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377096367706 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377096367706[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413920662952 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413920662952[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756542587606 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756542587606[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756607046783 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756607046783[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210347349631 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210347349631[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097859204150 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097859204150[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532160297660 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532160297660[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312275231984 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312275231984[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023018966190 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023018966190[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011803751252 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011803751252[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003140682974 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003140682974[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012564042689 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012564042689[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013404245948 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013404245948[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132241136110 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132241136110[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131622957746 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131622957746[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368088739240 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368088739240[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043719956716 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043719956716[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002457014445758 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002457014445758[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354870641508 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354870641508[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000631229551671 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000631229551671[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184618024864 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184618024864[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068414065156 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068414065156[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000191992173015 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000191992173015[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234575950613 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234575950613[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000284547277148 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000284547277148[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222494213293 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222494213293[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177147584028 ×2 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177147584028[0m ×4 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125474376039 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125474376039[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289457558815 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289457558815[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500083468907 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500083468907[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603146064047 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603146064047[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318665762686 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318665762686[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507555187816 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507555187816[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255969666862 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255969666862[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233613445727 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233613445727[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416843414277 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416843414277[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578594178293 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578594178293[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063856227461 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063856227461[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448498783114 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448498783114[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443903213745 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443903213745[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000434251578489 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000434251578489[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149611375909 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149611375909[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000437486689262 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000437486689262[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302671 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302671 ms (missed cycles : 2).[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000572821960975 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000572821960975[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390734757941 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390734757941[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300158924811 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300158924811[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000205186913348 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000205186913348[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264017906914 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264017906914[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172316110945 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172316110945[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114508140076 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114508140076[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057228405309 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057228405309[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999105382301 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999105382301[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241801667798 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241801667798[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709427332366 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709427332366[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226537176307 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226537176307[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681359451802 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681359451802[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532172312476 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532172312476[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205914020592 ×2 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205914020592[0m ×4 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000382683991098 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000382683991098[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630214026654 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630214026654[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547010259409 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547010259409[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001259174385296 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001259174385296[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859820459097 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859820459097[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272353054833 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272353054833[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137605619461 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137605619461[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408493238724 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408493238724[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667572066496 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667572066496[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760128503067 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760128503067[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961897731201 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961897731201[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001032689465627 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001032689465627[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001974580159134 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001974580159134[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418433270368 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418433270368[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812195149081 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812195149081[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112963623755 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112963623755[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176789859972 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176789859972[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820909960685 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820909960685[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110491016671 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110491016671[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001704334395912 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001704334395912[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293250237491 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293250237491[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260787883508 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260787883508[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047859717894 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047859717894[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140482459930 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140482459930[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051757122434 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051757122434[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051860205076 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051860205076[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279201484078 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279201484078[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115583866447 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115583866447[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560135348886 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560135348886[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242833472922 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242833472922[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025338061075 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025338061075[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302582012367 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302582012367[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892238182027 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892238182027[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694929006741 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694929006741[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386611576780 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386611576780[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131472197196 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131472197196[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901371644615 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901371644615[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137407316666 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137407316666[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684077540400 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684077540400[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002466485315369 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002466485315369[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895155057916 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895155057916[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679060099458 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679060099458[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025970480688 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025970480688[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812697160972 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812697160972[0m ×2 + 17.37sWARNcontroller_managerOverrun might occur, Total time : 2404.267 us (Expected < 1666.667 us) --> Read time : 173.574 us, Update time : 77.162 us, Write time : 2153.531 us + 17.37sWARNros2_control_nodeOverrun might occur, Total time : 2404.267 us (Expected < 1666.667 us) --> Read time : 173.574 us, Update time : 77.162 us, Write time : 2153.531 us[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763584754326 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763584754326[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680896417093 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680896417093[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799299204935 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799299204935[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007211332450165 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007211332450165[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036098682497 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036098682497[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237461539826 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237461539826[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001977367205194 ×2 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001977367205194[0m ×4 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198172952239 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198172952239[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404722027011 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404722027011[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001699783229044 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001699783229044[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000737306777274 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000737306777274[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174270271350 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174270271350[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135441139064 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135441139064[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000693588720211 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000693588720211[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741046847448 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741046847448[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502746866659 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502746866659[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747483626499 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747483626499[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744267846030 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744267846030[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992615237214 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992615237214[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280276089379 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280276089379[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203033525372 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203033525372[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694993388332 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694993388332[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950260931784 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950260931784[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145612917866 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145612917866[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937131809848 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937131809848[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365838566912 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365838566912[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227408418550 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227408418550[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000871124449590 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000871124449590[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557791611079 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557791611079[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353635093046 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353635093046[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000452037887372 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000452037887372[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142530318856 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142530318856[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345677704406 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345677704406[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502766357608 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502766357608[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.230379 ms (missed cycles : 8). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.230379 ms (missed cycles : 8).[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039639669174 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039639669174[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138869561653 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138869561653[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000505020638345 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000505020638345[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000497375228434 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000497375228434[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611347475730 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611347475730[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000815917379414 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000815917379414[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000364326637882 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000364326637882[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061542255078 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061542255078[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917875589087 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917875589087[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997413058710 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997413058710[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847167726219 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847167726219[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003011198842423 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003011198842423[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943564460840 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943564460840[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001837256016203 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001837256016203[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493820896067 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493820896067[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413785330440 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413785330440[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234070857372 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234070857372[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002173520275981 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002173520275981[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186323017898 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186323017898[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817770719732 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817770719732[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002577883979153 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002577883979153[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170954700241 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170954700241[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100199688335 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100199688335[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253512086314 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253512086314[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398157793967 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398157793967[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002549035141529 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002549035141529[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373823438435 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373823438435[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003523815834945 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003523815834945[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101545874396 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101545874396[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848317985627 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848317985627[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288889092265 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288889092265[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007758408229 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007758408229[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315497776457 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315497776457[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560514282402 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560514282402[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948121976596 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948121976596[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669607449918 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669607449918[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820663580541 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820663580541[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000664279985641 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000664279985641[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702017593530 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702017593530[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785110470557 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785110470557[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931627245619 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931627245619[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580796332217 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580796332217[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517454278561 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517454278561[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037126992079 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037126992079[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041581010772 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041581010772[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335117964066 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335117964066[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200502229407 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200502229407[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193367155521 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193367155521[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320087791305 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320087791305[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539249777574 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539249777574[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535999921725 ×2 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535999921725[0m ×4 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001056907601940 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001056907601940[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346060920709 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346060920709[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265920774834 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265920774834[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644646384648 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644646384648[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725913525376 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725913525376[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656806178529 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656806178529[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623681378939 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623681378939[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001276222596453 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001276222596453[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735488984934 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735488984934[0m ×2 + 18.39sWARNcontroller_managerOverrun might occur, Total time : 1735.671 us (Expected < 1666.667 us) --> Read time : 249.296 us, Update time : 93.142 us, Write time : 1393.233 us + 18.40sWARNros2_control_nodeOverrun might occur, Total time : 1735.671 us (Expected < 1666.667 us) --> Read time : 249.296 us, Update time : 93.142 us, Write time : 1393.233 us[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201891986007 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201891986007[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669269362410 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669269362410[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000402098905777 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000402098905777[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441078870185 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441078870185[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001548961832908 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001548961832908[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666477182654 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666477182654[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267550448502 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267550448502[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124238781059 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124238781059[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594419587854 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594419587854[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255399269563 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255399269563[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495622700326 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495622700326[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050901095114 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050901095114[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232043417139 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232043417139[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799075725564 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799075725564[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956667562997 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956667562997[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014824049317 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014824049317[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114921445124 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114921445124[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846225912957 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846225912957[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475433708405 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475433708405[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761719800038 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761719800038[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613904647005 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613904647005[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884246775778 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884246775778[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885787134034 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885787134034[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000787023874627 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000787023874627[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403927700496 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403927700496[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269845797853 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269845797853[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952295937830 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952295937830[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409212380851 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409212380851[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591119383578 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591119383578[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281085294941 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281085294941[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896099327609 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896099327609[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620099684796 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620099684796[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028055175060 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028055175060[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002115404267205 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002115404267205[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888280527760 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888280527760[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420938554298 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420938554298[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018742708903 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523541 ms (missed cycles : 2). + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018742708903[0m ×2 + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523541 ms (missed cycles : 2).[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716685474724 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716685474724[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004415496784 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004415496784[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595891726677 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595891726677[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906480666289 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906480666289[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570751493787 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570751493787[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001822737927548 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001822737927548[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996345711791 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996345711791[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618117609940 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618117609940[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945477915167 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945477915167[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018445515520 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018445515520[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241215430250 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241215430250[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968335054093 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968335054093[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189298862860 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189298862860[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237545507130 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237545507130[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000262825145843 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000262825145843[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304795075046 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304795075046[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114163262745 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114163262745[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687352812227 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687352812227[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983183380565 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983183380565[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975000129333 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975000129333[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985196897825 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985196897825[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684504884854 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684504884854[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071754922189 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071754922189[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255461084176 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255461084176[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000772707660029 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000772707660029[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094827603857 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094827603857[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078082975341 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078082975341[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000155467719 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000155467719[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620932770494 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620932770494[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881903782241 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881903782241[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114122793320 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114122793320[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000972250279151 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000972250279151[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000453730809880 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000453730809880[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923551838118 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923551838118[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935561939776 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935561939776[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001552101936522 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001552101936522[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784800860058 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784800860058[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904458632487 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904458632487[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748765903719 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748765903719[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202565477299 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202565477299[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249180640387 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249180640387[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766582418223 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766582418223[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005611381718 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005611381718[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952779631462 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952779631462[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599318989431 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599318989431[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294461698306 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294461698306[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678479737605 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678479737605[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868294798606 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868294798606[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385204921265 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385204921265[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934805757626 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934805757626[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527999525624 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527999525624[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432232250946 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432232250946[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909350856591 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909350856591[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734741179994 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734741179994[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238727645426 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238727645426[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448549064072 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448549064072[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013716359662 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013716359662[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435991891384 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435991891384[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003696126221957 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003696126221957[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833950940355 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833950940355[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002581682291284 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002581682291284[0m ×2 + 19.49sWARNcontroller_managerOverrun might occur, Total time : 2635.442 us (Expected < 1666.667 us) --> Read time : 304.567 us, Update time : 88.392 us, Write time : 2242.483 us + 19.49sWARNros2_control_nodeOverrun might occur, Total time : 2635.442 us (Expected < 1666.667 us) --> Read time : 304.567 us, Update time : 88.392 us, Write time : 2242.483 us[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017660548403 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017660548403[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520855510707 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520855510707[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159276309592 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159276309592[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536375097283 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536375097283[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003749747421742 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003749747421742[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840236970865 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840236970865[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003885280378545 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003885280378545[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909229183278 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909229183278[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999318842986 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999318842986[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316777197736 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316777197736[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531416956625 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531416956625[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666142514128 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666142514128[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181578592578 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181578592578[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490901481751 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490901481751[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463850493019 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463850493019[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402358874054 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402358874054[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595504084618 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595504084618[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637648847033 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637648847033[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002706389544510 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002706389544510[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190609688028 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190609688028[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571557020144 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571557020144[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122970757590 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122970757590[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987840408107 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987840408107[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122431 ms (missed cycles : 4). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122431 ms (missed cycles : 4).[0m ×2 + 20.71sWARNcontroller_managerOverrun might occur, Total time : 1914.716 us (Expected < 1666.667 us) --> Read time : 817.240 us, Update time : 104.022 us, Write time : 993.454 us + 20.71sWARNros2_control_nodeOverrun might occur, Total time : 1914.716 us (Expected < 1666.667 us) --> Read time : 817.240 us, Update time : 104.022 us, Write time : 993.454 us[0m ×2 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888632 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888632 ms (missed cycles : 2).[0m ×2 + 21.73sWARNcontroller_managerOverrun might occur, Total time : 2911.970 us (Expected < 1666.667 us) --> Read time : 282.457 us, Update time : 2115.490 us, Write time : 514.023 us + 21.73sWARNros2_control_nodeOverrun might occur, Total time : 2911.970 us (Expected < 1666.667 us) --> Read time : 282.457 us, Update time : 2115.490 us, Write time : 514.023 us[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749022 ms (missed cycles : 2). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749022 ms (missed cycles : 2).[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007295658119889 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007295658119889[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002469465188818 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002469465188818[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001152467781365 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001152467781365[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000331680849246 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000331680849246[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000331902964459 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000331902964459[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921598119419 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921598119419[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116545571009 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116545571009[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886269016242 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886269016242[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021675378790788 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021675378790788[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707081063578 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707081063578[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252360796549 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252360796549[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487425534530 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487425534530[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097794708428 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097794708428[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000924813168044 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000924813168044[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001262471243285 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001262471243285[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001113424506933 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001113424506933[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001111344326401 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001111344326401[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000865645124759 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000865645124759[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000566790941545 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000566790941545[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000334732049357 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000334732049357[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000164618567057 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000164618567057[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073004603115 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073004603115[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966660968607 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966660968607[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534895003367 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534895003367[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830017773827 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830017773827[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000740385092115 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000740385092115[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419150152016 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419150152016[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000490624158257 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000490624158257[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159133440122 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159133440122[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318602158869 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318602158869[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046231551902 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046231551902[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000231697557383 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000231697557383[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054106786073 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054106786073[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110370870557 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110370870557[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007166813343 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007166813343[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007512052179 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007512052179[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046595064500 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046595064500[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069961895488 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069961895488[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076015576523 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076015576523[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073046308600 ×2 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073046308600[0m ×4 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048234389934470 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048234389934470[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029252984741072 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029252984741072[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007349653477238 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007349653477238[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036067483084 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036067483084[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000594818261417 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000594818261417[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000595097341437 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000595097341437[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002083631275057 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002083631275057[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002666964188460 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002666964188460[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001948736816195 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001948736816195[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001280135058032 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001280135058032[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684359025406 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684359025406[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006968001625439 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006968001625439[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327841493541 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327841493541[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014185593688374 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014185593688374[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026258741320619 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026258741320619[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017090050059657 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017090050059657[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015227159307792 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015227159307792[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012761768550099 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012761768550099[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014110933285050 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014110933285050[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016069360247635 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016069360247635[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013505451020768 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013505451020768[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014003311784514 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014003311784514[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011026590758380 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011026590758380[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007358051114017 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007358051114017[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008688376648809 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008688376648809[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358841444903 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358841444903[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051011921281 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051011921281[0m ×2 + 22.73sWARNcontroller_managerOverrun might occur, Total time : 5572.052 us (Expected < 1666.667 us) --> Read time : 266.456 us, Update time : 4668.591 us, Write time : 637.005 us + 22.73sWARNros2_control_nodeOverrun might occur, Total time : 5572.052 us (Expected < 1666.667 us) --> Read time : 266.456 us, Update time : 4668.591 us, Write time : 637.005 us[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001288649805801 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001288649805801[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451742057440 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451742057440[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955397011565 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955397011565[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177785045593 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177785045593[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001959738553380 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001959738553380[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736483391714 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736483391714[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673130863738 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673130863738[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088130493015 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088130493015[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494212176600 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494212176600[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309314190752 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309314190752[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583962295329 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583962295329[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401016006783 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401016006783[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518395600349 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518395600349[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213890885681 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213890885681[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726348074587 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726348074587[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142693 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142693 ms (missed cycles : 2).[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998859293168 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998859293168[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000850945502456 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000850945502456[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971143632240 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971143632240[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675926408571 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675926408571[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001280098878090 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001280098878090[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704102326460 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704102326460[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935580397947 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935580397947[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856158240235 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856158240235[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989652117078 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989652117078[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108524770871 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108524770871[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506116123033 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506116123033[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686807058404 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686807058404[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069598137484 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069598137484[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001266781375060 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001266781375060[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315919578488 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315919578488[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598902152115 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598902152115[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939061474403 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939061474403[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246756711533 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246756711533[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058346236533 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058346236533[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970067817934 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970067817934[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002855814783114 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002855814783114[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988008596951 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988008596951[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362802778589 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362802778589[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779062472685 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779062472685[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557009389328 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557009389328[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465065249167 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465065249167[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799151557499 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799151557499[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224618153789 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224618153789[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629435648124 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629435648124[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421694774859 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421694774859[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863213126528 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863213126528[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802158166032 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802158166032[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231530424248 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231530424248[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389605394625 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389605394625[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458844694782 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458844694782[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747738116973 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747738116973[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273394798990 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273394798990[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973339683614 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973339683614[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809049998079 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809049998079[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608763926569 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608763926569[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056343471748 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056343471748[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503958943072 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503958943072[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147767023093 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147767023093[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231392828420 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231392828420[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529486177501 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529486177501[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002740457042785 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002740457042785[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001222929499670 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001222929499670[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412981407981 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412981407981[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545583820248 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545583820248[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302185772869 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302185772869[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211821393271 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211821393271[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646758257037 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646758257037[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114577905924 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114577905924[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002320585941248 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002320585941248[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729437642248 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729437642248[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675255701040 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675255701040[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676522831075 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676522831075[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976392864182 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976392864182[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470408429645 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470408429645[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566430970402 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566430970402[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141963401630 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141963401630[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928938718311 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928938718311[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598480690412 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598480690412[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914934101779 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914934101779[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615252494935 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615252494935[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963961874149 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963961874149[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208756441468 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208756441468[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092173130583 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092173130583[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161677541998 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161677541998[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088281985470 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088281985470[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355331842374 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355331842374[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562077995911 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562077995911[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877153372262 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877153372262[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955143919897 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955143919897[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201603354956 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201603354956[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864486585521 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864486585521[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225027792309 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225027792309[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295960958998 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295960958998[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150057804235 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150057804235[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897920685117 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897920685117[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926662524694 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926662524694[0m ×2 + 23.79sWARNcontroller_managerOverrun might occur, Total time : 2177.132 us (Expected < 1666.667 us) --> Read time : 203.494 us, Update time : 238.156 us, Write time : 1735.482 us + 23.80sWARNros2_control_nodeOverrun might occur, Total time : 2177.132 us (Expected < 1666.667 us) --> Read time : 203.494 us, Update time : 238.156 us, Write time : 1735.482 us[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546707107527 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546707107527[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981886757888 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981886757888[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642794489591 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642794489591[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845447700618 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845447700618[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066276435123 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066276435123[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590898559570 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590898559570[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801543526450 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801543526450[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470549590149 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470549590149[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692154627895 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692154627895[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297610887847 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297610887847[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069354468821 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069354468821[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931566816025 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526024 ms (missed cycles : 3). + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931566816025[0m ×2 + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526024 ms (missed cycles : 3).[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941478659592 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941478659592[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491234594486 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491234594486[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111487774980 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111487774980[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002295998681 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002295998681[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551135569988 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551135569988[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557094831762 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557094831762[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300832882541 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300832882541[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029019887891 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029019887891[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929757252339 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929757252339[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455489249608 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455489249608[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222417274404 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222417274404[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679978340740 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679978340740[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934192795016 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934192795016[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034695506711 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034695506711[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666223996573 ×2 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666223996573[0m ×4 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660848297109 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660848297109[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191085096073 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191085096073[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249029081832 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249029081832[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750007833585 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750007833585[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769889892980 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769889892980[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891210941667 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891210941667[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590318396054 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590318396054[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663639853122 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663639853122[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299210009944 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299210009944[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699055095551 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699055095551[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740155422039 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740155422039[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907472338788 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907472338788[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863112386866 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863112386866[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468889752150 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468889752150[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140430177248 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140430177248[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875462408819 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875462408819[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198886812343 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198886812343[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847318779148 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847318779148[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608849610598 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608849610598[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330028951188 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330028951188[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663465094154 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663465094154[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002480815797659 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002480815797659[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084176815554 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084176815554[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136317256250 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136317256250[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252037271729 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252037271729[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789544339056 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789544339056[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001390618089996 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001390618089996[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246895709213 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246895709213[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820222001504 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820222001504[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830277139253 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830277139253[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382989647808 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382989647808[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818846269230 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818846269230[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570434965927 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570434965927[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996942865576 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996942865576[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673485198833 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673485198833[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825854508750 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825854508750[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360497805705 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360497805705[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227529891725 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227529891725[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772314633651 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772314633651[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772616692662 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772616692662[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759528831096 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759528831096[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004487820791611 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004487820791611[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947248334520 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947248334520[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072861350459 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072861350459[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304345033061 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304345033061[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256855743214 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256855743214[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810341761926 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810341761926[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664372979332 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664372979332[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349433887839 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349433887839[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932263017492 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932263017492[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917681132341 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917681132341[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793363012469 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793363012469[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983590531232 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983590531232[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365973141236 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365973141236[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978172977451 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978172977451[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685544159963 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685544159963[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195097412612 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195097412612[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489291761534 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489291761534[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321539203730 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321539203730[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303863130810 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303863130810[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654566323476 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654566323476[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766077755601 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766077755601[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336855433747 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336855433747[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612658522030 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612658522030[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002510578308115 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002510578308115[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534530111961 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534530111961[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753419930832 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753419930832[0m ×2 + 24.81sWARNcontroller_managerOverrun might occur, Total time : 4461.466 us (Expected < 1666.667 us) --> Read time : 207.855 us, Update time : 3681.147 us, Write time : 572.464 us + 24.82sWARNros2_control_nodeOverrun might occur, Total time : 4461.466 us (Expected < 1666.667 us) --> Read time : 207.855 us, Update time : 3681.147 us, Write time : 572.464 us[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799192679256 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799192679256[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183351822033 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183351822033[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110737701642 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110737701642[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456275691557 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456275691557[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267215046819 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267215046819[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666842049493 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666842049493[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824121841867 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824121841867[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609319712817 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609319712817[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503209682974 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503209682974[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047893575157 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047893575157[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350924814363 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350924814363[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785812910554 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785812910554[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835551574408 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835551574408[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753976621665 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753976621665[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.274783 ms (missed cycles : 7). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.274783 ms (missed cycles : 7).[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667956215796 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667956215796[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641506926788 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641506926788[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890764170765 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890764170765[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638028356837 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638028356837[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001303393500675 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001303393500675[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147862236961 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147862236961[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306458461094 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306458461094[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835502945812 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835502945812[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276256946202 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276256946202[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618911840002 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618911840002[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640798275664 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640798275664[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678030537005 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678030537005[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841113713770 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841113713770[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121000603658 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121000603658[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477621555384 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477621555384[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705497325894 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705497325894[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006389291411936 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006389291411936[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579070985528 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579070985528[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952014031411 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952014031411[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775026424840 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775026424840[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007140396315053 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007140396315053[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005993496976609 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005993496976609[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191510821341 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191510821341[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668082422761 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668082422761[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591914574398 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591914574398[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535003404517 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535003404517[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486383346579 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486383346579[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919945784921 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919945784921[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981533196345 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981533196345[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006441993230371 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006441993230371[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524292645470 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524292645470[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010710110394 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010710110394[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772522892774 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772522892774[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810424329652 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810424329652[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880381435491 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880381435491[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005666475017402 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005666475017402[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004957585466132 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004957585466132[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538872421456 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538872421456[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282318909753 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282318909753[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129468294772 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129468294772[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041511124184 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041511124184[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005067832999064 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005067832999064[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606558331762 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606558331762[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242423121943 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242423121943[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394849667444 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394849667444[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005892037467371 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005892037467371[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107337445038 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107337445038[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205978813269 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205978813269[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005192148476948 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005192148476948[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568666331579 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568666331579[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182238123214 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182238123214[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161152740508 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161152740508[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546689784933 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546689784933[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165004676200 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165004676200[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549036193589 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549036193589[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723256174277 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723256174277[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005239328829694 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005239328829694[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004570936733973 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004570936733973[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171602954453 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171602954453[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558248809826 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558248809826[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229373578918 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229373578918[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603933402908 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603933402908[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085217408398 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085217408398[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152176556865 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152176556865[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006198843712531 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006198843712531[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950294613328 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950294613328[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494584412709 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494584412709[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472273624317 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472273624317[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138831809447 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138831809447[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020143051813 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020143051813[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005796868663083 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005796868663083[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735174772051 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735174772051[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575762964307 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575762964307[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571703567287 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571703567287[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042298690970 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042298690970[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286975539731 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286975539731[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302399318552 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302399318552[0m ×2 + 25.82sWARNcontroller_managerOverrun might occur, Total time : 4438.914 us (Expected < 1666.667 us) --> Read time : 236.575 us, Update time : 3638.446 us, Write time : 563.893 us + 25.83sWARNros2_control_nodeOverrun might occur, Total time : 4438.914 us (Expected < 1666.667 us) --> Read time : 236.575 us, Update time : 3638.446 us, Write time : 563.893 us[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383452663479 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383452663479[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723082959376 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723082959376[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650593505253 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650593505253[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645859446585 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645859446585[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006429138492 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006429138492[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006262943619198 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006262943619198[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977486920179 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977486920179[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558028688689 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558028688689[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476832844435 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476832844435[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294043672660 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294043672660[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353038898590 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353038898590[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160172548644 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160172548644[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176781883269 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176781883269[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900523757784 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900523757784[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452236493794 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452236493794[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700610849517 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700610849517[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841570649956 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841570649956[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876608516517 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876608516517[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634645494496 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634645494496[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198437274443 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848423 ms (missed cycles : 3). + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198437274443[0m ×2 + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848423 ms (missed cycles : 3).[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410530276898 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410530276898[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222928881817 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222928881817[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737640336042 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737640336042[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234351280966 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234351280966[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005420576186197 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005420576186197[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548411485110 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548411485110[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568748116837 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568748116837[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561249526730 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561249526730[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522471144944 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522471144944[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477391485995 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477391485995[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427188702682 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427188702682[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378723967137 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378723967137[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339019692297 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339019692297[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308819838326 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308819838326[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280645388975 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280645388975[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282562889504 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282562889504[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231118402443 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231118402443[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546987994921 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546987994921[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005203415768911 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005203415768911[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225513565202 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225513565202[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090782881075 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090782881075[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437733331518 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437733331518[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280009780137 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280009780137[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112961733839 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112961733839[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141813792446 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141813792446[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403803226015 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403803226015[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633320392649 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633320392649[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223921969539 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223921969539[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162911021303 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162911021303[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959850863711 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959850863711[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873569208482 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873569208482[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006621759315776 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006621759315776[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647248713264 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647248713264[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881782735655 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881782735655[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100541450738 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100541450738[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706443074197 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706443074197[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301257859465 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301257859465[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871982866934 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871982866934[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670553351368 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670553351368[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317473574717 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317473574717[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865013111409 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865013111409[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190376872197 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190376872197[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006200768601529 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006200768601529[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006291986050354 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006291986050354[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006699713598675 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006699713598675[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515101370834 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515101370834[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266927934178 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266927934178[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006231228536445 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006231228536445[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006889638076020 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006889638076020[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005647807846873 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005647807846873[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006644386896374 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006644386896374[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246365733482 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246365733482[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006423356539513 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006423356539513[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935363828202 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935363828202[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144481849683 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144481849683[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743819937188 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743819937188[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907987344129 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907987344129[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626055049228 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626055049228[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005747395267892 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005747395267892[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537781724692 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537781724692[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005373410889203 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005373410889203[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627443448678 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627443448678[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005486173690196 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005486173690196[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726075089034 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726075089034[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002503824822 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002503824822[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799525891414 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799525891414[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171869153313 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171869153313[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400882273902 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400882273902[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339856886769 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339856886769[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624840595219 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624840595219[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155758761359 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155758761359[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005825572195242 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005825572195242[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004649399914248 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004649399914248[0m ×2 + 26.89sWARNcontroller_managerOverrun might occur, Total time : 2851.968 us (Expected < 1666.667 us) --> Read time : 301.348 us, Update time : 1900.835 us, Write time : 649.785 us + 26.90sWARNros2_control_nodeOverrun might occur, Total time : 2851.968 us (Expected < 1666.667 us) --> Read time : 301.348 us, Update time : 1900.835 us, Write time : 649.785 us[0m ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477544 ms (missed cycles : 4). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477544 ms (missed cycles : 4).[0m ×2 + 27.92sWARNcontroller_managerOverrun might occur, Total time : 3318.909 us (Expected < 1666.667 us) --> Read time : 209.115 us, Update time : 2582.711 us, Write time : 527.083 us + 27.92sWARNros2_control_nodeOverrun might occur, Total time : 3318.909 us (Expected < 1666.667 us) --> Read time : 209.115 us, Update time : 2582.711 us, Write time : 527.083 us[0m ×2 + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725082 ms (missed cycles : 2). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725082 ms (missed cycles : 2).[0m ×2 + 28.99sWARNcontroller_managerOverrun might occur, Total time : 5962.641 us (Expected < 1666.667 us) --> Read time : 357.258 us, Update time : 5067.481 us, Write time : 537.902 us + 29.00sWARNros2_control_nodeOverrun might occur, Total time : 5962.641 us (Expected < 1666.667 us) --> Read time : 357.258 us, Update time : 5067.481 us, Write time : 537.902 us[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770739 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770739 ms (missed cycles : 2).[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000780421541 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000780421541[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111606941885 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111606941885[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066534496096 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066534496096[0m ×2 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172366488533 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172366488533[0m ×2 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091681111439 + 29.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091681111439[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043715720885 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043715720885[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210630641171 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210630641171[0m ×2 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560566567000 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560566567000[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031523656871 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031523656871[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550548870270 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550548870270[0m ×2 + 29.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394655719730 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394655719730[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051754644071 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051754644071[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821870947679 ×2 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821870947679[0m ×4 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154279285683 + 29.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154279285683[0m ×2 + 29.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684022498757 + 29.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684022498757[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274158336100 + 29.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274158336100[0m ×2 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011601725284111 + 29.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011601725284111[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529026340816 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529026340816[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453484211293 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453484211293[0m ×2 + 29.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001125543437555 + 29.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001125543437555[0m ×2 + 29.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038132179427466 + 29.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038132179427466[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031769028964517 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031769028964517[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026229280487422 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026229280487422[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021744767178391 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021744767178391[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018140945444213 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018140945444213[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015506267717216 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015506267717216[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017643660788020 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017643660788020[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025621421630836 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025621421630836[0m ×2 + 29.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018977094020751 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018977094020751[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014357435466454 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014357435466454[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016075523314688 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016075523314688[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018985033044857 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018985033044857[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013734809495517 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013734809495517[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014536872477114 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014536872477114[0m ×2 + 29.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014588674036017 + 29.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014588674036017[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014180032758620 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014180032758620[0m ×2 + 29.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018400642620692 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018400642620692[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023898684377083 + 29.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023898684377083[0m ×2 + 29.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023765590461626 + 29.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023765590461626[0m ×2 + 29.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017482096889562 + 29.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017482096889562[0m ×2 + 29.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013077415511815 + 29.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013077415511815[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015868952884056 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015868952884056[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015915933584213 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015915933584213[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015239491732781 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015239491732781[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014192107730731 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014192107730731[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016344082598611 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016344082598611[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014181278816284 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014181278816284[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017906539003924 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017906539003924[0m ×2 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013883104513506 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013883104513506[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016854082531655 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016854082531655[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012607666252154 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012607666252154[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013774361509460 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013774361509460[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015312794029571 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015312794029571[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021998069219293 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021998069219293[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016931407581347 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016931407581347[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017456865533958 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017456865533958[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016074015624699 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016074015624699[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016406785008134 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016406785008134[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020518246853169 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020518246853169[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017100869401246 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017100869401246[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011024753463744 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011024753463744[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009741297520073 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009741297520073[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007076162816140 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007076162816140[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008547489644025 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008547489644025[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006800632337179 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006800632337179[0m ×2 + 29.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.46% of iterations over budget over 3:10.013 of wall time (852/58334). Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423004980180 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423004980180[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001374241443640 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001374241443640[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000362340280141 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000362340280141[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745240888003 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745240888003[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000314965367624 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000314965367624[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359247712572 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359247712572[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000658453269453 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000658453269453[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000890331179791 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000890331179791[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196396721172 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196396721172[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533176888517 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533176888517[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841927503119 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841927503119[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295811386776 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295811386776[0m ×2 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907949812645 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907949812645[0m ×2 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190693599232 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190693599232[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975440853998 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975440853998[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813897499806 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813897499806[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698999859743 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698999859743[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621517132881 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621517132881[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018706591773 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018706591773[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192490412055 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192490412055[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963487694683 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963487694683[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796084515123 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796084515123[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003617573465572 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003617573465572[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156885007118 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156885007118[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848903188152 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848903188152[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656612688495 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656612688495[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101015163929 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101015163929[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803981434223 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803981434223[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623836065122 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623836065122[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525261684143 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525261684143[0m ×2 + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761821 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761821 ms (missed cycles : 2).[0m ×2 + 30.16sWARNcontroller_managerOverrun might occur, Total time : 3058.872 us (Expected < 1666.667 us) --> Read time : 279.346 us, Update time : 736.068 us, Write time : 2043.458 us + 30.16sWARNros2_control_nodeOverrun might occur, Total time : 3058.872 us (Expected < 1666.667 us) --> Read time : 279.346 us, Update time : 736.068 us, Write time : 2043.458 us[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002480169394304 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002480169394304[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952745436949 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952745436949[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167297790664 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167297790664[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948879266926 + 30.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948879266926[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791078365872 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791078365872[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603360398400 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603360398400[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153290006220 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153290006220[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852711269224 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852711269224[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665044005131 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665044005131[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104069264480 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104069264480[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812174297522 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812174297522[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634897345245 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634897345245[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537546541805 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537546541805[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951211966499 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951211966499[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800900008265 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800900008265[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002696905870285 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002696905870285[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502820989325 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502820989325[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094577704813 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094577704813[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823824322052 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823824322052[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655857216188 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655857216188[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460665182665 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460665182665[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026682191688 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026682191688[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052078017178 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052078017178[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002819575363120 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002819575363120[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674380638895 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674380638895[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590204768588 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590204768588[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546452871221 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546452871221[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815860340211 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815860340211[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255317417468 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255317417468[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893003276767 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893003276767[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002672715333782 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002672715333782[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551791892380 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551791892380[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495551683154 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495551683154[0m ×2 + 30.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761337302087 + 30.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761337302087[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211498353602 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211498353602[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859881887708 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859881887708[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650915329955 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650915329955[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539121670765 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539121670765[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765047543709 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765047543709[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202280573862 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202280573862[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430499085494 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430499085494[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979653647160 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979653647160[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707017222796 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707017222796[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557233959873 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557233959873[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344436810620 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344436810620[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943427791130 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943427791130[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699959041674 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699959041674[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484813754714 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484813754714[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020236635968 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020236635968[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563240328888 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563240328888[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880902900716 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880902900716[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363204138833 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363204138833[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236433255941 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236433255941[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301418019597 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301418019597[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525939283219 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525939283219[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021917896441 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021917896441[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716584125630 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716584125630[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789604946761 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789604946761[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183397640448 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183397640448[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809915883552 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809915883552[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577448087603 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577448087603[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047075268692 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047075268692[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002727975360684 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002727975360684[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553526755996 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553526755996[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721367710806 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721367710806[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647896767674 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647896767674[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058864758598 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058864758598[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467755524562 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467755524562[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344797742811 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344797742811[0m ×2 + 30.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605908990509 + 30.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605908990509[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303618252916 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303618252916[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492106340860 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492106340860[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085365214818 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085365214818[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986697133325 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986697133325[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312023628157 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312023628157[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889015329110 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889015329110[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852429802403 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852429802403[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211214823604 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211214823604[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613522366012 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613522366012[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054869908781 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054869908781[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927225472029 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927225472029[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234356446607 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234356446607[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813437045338 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813437045338[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787747701978 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787747701978[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158416541424 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158416541424[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778962214731 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778962214731[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775210828768 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775210828768[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159602135076 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159602135076[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895463418070 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895463418070[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219595642869 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219595642869[0m ×2 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808099980567 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808099980567[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905801990411 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905801990411[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895209637191 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895209637191[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441659258758 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441659258758[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568969924859 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568969924859[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179735311782 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179735311782[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364542919880 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364542919880[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755231460034 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755231460034[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096897348594 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096897348594[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003885135283630 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003885135283630[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998828787349 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998828787349[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255943774506 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255943774506[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997741122072 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997741122072[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908165104094 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908165104094[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419977621480 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419977621480[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480854846568 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480854846568[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577193199309 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577193199309[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170109556035 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170109556035[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907728 ms (missed cycles : 2). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907728 ms (missed cycles : 2).[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351769036368 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351769036368[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017094427639 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017094427639[0m ×2 + 31.24sWARNcontroller_managerOverrun might occur, Total time : 2079.060 us (Expected < 1666.667 us) --> Read time : 317.798 us, Update time : 1254.210 us, Write time : 507.052 us + 31.24sWARNros2_control_nodeOverrun might occur, Total time : 2079.060 us (Expected < 1666.667 us) --> Read time : 317.798 us, Update time : 1254.210 us, Write time : 507.052 us[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196677652658 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196677652658[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960091939818 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960091939818[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230217134989 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230217134989[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996405673699 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996405673699[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695522519432 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695522519432[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717057109121 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717057109121[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231379409688 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231379409688[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383500523950 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383500523950[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087153634666 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087153634666[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003283703856337 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003283703856337[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946335379981 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946335379981[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003195956014449 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003195956014449[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898385701826 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898385701826[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167172790936 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167172790936[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880411920499 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880411920499[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161178279293 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161178279293[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860588858245 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860588858245[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149993862627 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149993862627[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003870281629050 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003870281629050[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273378421610 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273378421610[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331836465933 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331836465933[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421243774808 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421243774808[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467302494544 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467302494544[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599450157660 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599450157660[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222619779362 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222619779362[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543331298278 + 31.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543331298278[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002653374238473 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002653374238473[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867918815110 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867918815110[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796880003677 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796880003677[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464260133232 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464260133232[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704186100862 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704186100862[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780475360359 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780475360359[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439668328311 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439668328311[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112250580826 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112250580826[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324819852763 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324819852763[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433550961388 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433550961388[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625772174203 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625772174203[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538482306635 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538482306635[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960059183560 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960059183560[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209288220384 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209288220384[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124861445328 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124861445328[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858887362886 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858887362886[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685067705807 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685067705807[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153491092215 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153491092215[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005347148089090 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005347148089090[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109680684787 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109680684787[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866996465702 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866996465702[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137882423418 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137882423418[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284092965171 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284092965171[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629705081787 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629705081787[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531343379127 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531343379127[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921869603918 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921869603918[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560491066766 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560491066766[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212784889225 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212784889225[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768368663454 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768368663454[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095113089659 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095113089659[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276712701150 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276712701150[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366511775676 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366511775676[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705248044794 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705248044794[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602256049491 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602256049491[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514207815109 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514207815109[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443703724102 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443703724102[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109128843393 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109128843393[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660985644972 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660985644972[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991134427285 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991134427285[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179092114889 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179092114889[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275663294273 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275663294273[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315718478783 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315718478783[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323020835577 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323020835577[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313121181427 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313121181427[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640960607210 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640960607210[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491011828167 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491011828167[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015836674381 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015836674381[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023528068253 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023528068253[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004622876145464 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004622876145464[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999095647096 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999095647096[0m ×2 + 31.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614928551469 + 31.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614928551469[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428505751184 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428505751184[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318562753910 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318562753910[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637606571119 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637606571119[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437753447109 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437753447109[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305312061990 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305312061990[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219711111397 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219711111397[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166105635047 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166105635047[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481579843361 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481579843361[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321283230311 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321283230311[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217502268997 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217502268997[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341282726285 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341282726285[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204568610819 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204568610819[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438823388218 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438823388218[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525621465702 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525621465702[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985501212389 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985501212389[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636690331342 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636690331342[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397154993384 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397154993384[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233732585189 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233732585189[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272659862423 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272659862423[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034746516472 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034746516472[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512793326046 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512793326046[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061835476198 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061835476198[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583777151327 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583777151327[0m ×2 + 32.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289335720039 + 32.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289335720039[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110005517870 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110005517870[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051076 ms (missed cycles : 2). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051076 ms (missed cycles : 2).[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004661775337128 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004661775337128[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054534280858 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054534280858[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482327762911 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482327762911[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275769313235 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275769313235[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284824793863 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284824793863[0m ×2 + 32.30sWARNcontroller_managerOverrun might occur, Total time : 2372.275 us (Expected < 1666.667 us) --> Read time : 1804.892 us, Update time : 107.442 us, Write time : 459.941 us + 32.30sWARNros2_control_nodeOverrun might occur, Total time : 2372.275 us (Expected < 1666.667 us) --> Read time : 1804.892 us, Update time : 107.442 us, Write time : 459.941 us[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902221879232 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902221879232[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097448916739 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097448916739[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968788128887 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968788128887[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973967393799 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973967393799[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699913280003 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699913280003[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595645381557 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595645381557[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005535502712509 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005535502712509[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812599002526 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812599002526[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341275651912 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341275651912[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005319164875753 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005319164875753[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813582744622 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813582744622[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309453111567 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309453111567[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584805785826 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584805785826[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184073323525 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184073323525[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954255581223 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954255581223[0m ×2 + 32.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419048242055 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419048242055[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640468926557 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640468926557[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150710282621 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150710282621[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508828891430 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508828891430[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115109510202 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115109510202[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406457218185 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406457218185[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403298488862 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403298488862[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703471612922 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703471612922[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243834757139 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243834757139[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485916859207 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485916859207[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626335745273 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626335745273[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004734161130344 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004734161130344[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211718727867 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211718727867[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430500971565 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430500971565[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568325593608 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568325593608[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653012849160 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653012849160[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127850838950 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127850838950[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293011026439 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293011026439[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005117190675042 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005117190675042[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005802360929123 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005802360929123[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845303540079 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845303540079[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239044217250 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239044217250[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125011013946 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125011013946[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395661100180 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395661100180[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290594963039 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290594963039[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029212251247 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029212251247[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130342667242 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130342667242[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797829981622 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797829981622[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781668940347 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781668940347[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546747738197 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546747738197[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005783926373140 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005783926373140[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694310857267 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694310857267[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430216903044 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430216903044[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432373846670 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432373846670[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005242347416588 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005242347416588[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473151274768 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473151274768[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450845473325 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450845473325[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232684729513 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232684729513[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280345246960 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280345246960[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088136619844 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088136619844[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241112801626 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241112801626[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094650775060 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094650775060[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173824837610 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173824837610[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966926582630 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966926582630[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154453734404 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154453734404[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525676061977 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525676061977[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314107417589 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314107417589[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241800680932 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241800680932[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213049269147 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213049269147[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327490344574 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327490344574[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336379167318 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336379167318[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159988419386 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159988419386[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006512826469278 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006512826469278[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006378864291109 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006378864291109[0m ×2 + 32.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006174995331134 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006174995331134[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992604090062 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992604090062[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107132377508 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107132377508[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705514339962 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705514339962[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079509148031 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079509148031[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200075200962 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200075200962[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584183407256 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584183407256[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372577062942 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372577062942[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295396995378 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295396995378[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940707052234 + 33.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940707052234[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794166213806 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794166213806[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005050177465869 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005050177465869[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281019454058 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281019454058[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317005216189 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317005216189[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562570752334 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562570752334[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992253543204 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992253543204[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005131231977492 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005131231977492[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084422616979 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084422616979[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743022248139 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743022248139[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518680336545 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518680336545[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005300384676175 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005300384676175[0m ×2 + 33.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046824289319 + 33.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046824289319[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005101611997580 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005101611997580[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489537944385 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489537944385[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566870745617 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566870745617[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190145557668 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190145557668[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135530960635 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135530960635[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464502660469 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464502660469[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201943936140 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201943936140[0m ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699821 ms (missed cycles : 2). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699821 ms (missed cycles : 2).[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037929712356 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037929712356[0m ×2 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798411589352 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798411589352[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758764784895 + 33.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758764784895[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084975323807 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084975323807[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735540987581 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735540987581[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779545206979 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779545206979[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645395259259 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645395259259[0m ×2 + 33.31sWARNcontroller_managerOverrun might occur, Total time : 1698.061 us (Expected < 1666.667 us) --> Read time : 310.088 us, Update time : 695.656 us, Write time : 692.317 us + 33.31sWARNros2_control_nodeOverrun might occur, Total time : 1698.061 us (Expected < 1666.667 us) --> Read time : 310.088 us, Update time : 695.656 us, Write time : 692.317 us[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626865096224 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626865096224[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562727049205 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562727049205[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611542537222 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611542537222[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220324182421 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220324182421[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864407748374 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864407748374[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664026463023 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664026463023[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508400052250 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508400052250[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251737832257 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251737832257[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005446001467767 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005446001467767[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015382294992 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015382294992[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006399686347533 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006399686347533[0m ×2 + 33.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236194863098 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236194863098[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904889579064 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904889579064[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452484062862 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452484062862[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416652990349 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416652990349[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896611113125 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896611113125[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468846765258 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468846765258[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864923113454 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864923113454[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100186003536 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100186003536[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077425896920 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077425896920[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901410134254 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901410134254[0m ×2 + 33.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721862174763 + 33.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721862174763[0m ×2 + 33.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009472977236488 + 33.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009472977236488[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009553863524701 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009553863524701[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836942953572 + 33.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836942953572[0m ×2 + 33.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886661077787 + 33.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886661077787[0m ×2 + 33.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008860881327 + 33.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008860881327[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372792978345 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372792978345[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456966869154 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456966869154[0m ×2 + 33.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008468720439473 + 33.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008468720439473[0m ×2 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008605244303429 + 33.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008605244303429[0m ×2 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188691985949 + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188691985949[0m ×2 + 33.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562816731325 + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562816731325[0m ×2 + 33.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467566796166 + 33.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467566796166[0m ×2 + 33.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079610570232 + 33.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079610570232[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007849126509850 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007849126509850[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742109587000 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742109587000[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001959457557227 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001959457557227[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007267497498099 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007267497498099[0m ×2 + 33.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584476881437 + 33.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584476881437[0m ×2 + 33.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134264385666 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134264385666[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803085286910 + 33.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803085286910[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919805207980 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919805207980[0m ×2 + 33.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007308876994042 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007308876994042[0m ×2 + 33.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547097519849 + 33.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547097519849[0m ×2 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146763775453 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146763775453[0m ×2 + 33.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293544217283 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293544217283[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377004850242 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377004850242[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006586544780991 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006586544780991[0m ×2 + 33.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233055537925 + 33.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233055537925[0m ×2 + 33.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007615631002523 + 33.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007615631002523[0m ×2 + 33.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598086900071 + 33.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598086900071[0m ×2 + 33.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592023432764 + 33.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592023432764[0m ×2 + 33.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006492484174 + 33.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006492484174[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052851 ms (missed cycles : 4). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052851 ms (missed cycles : 4).[0m ×2 + 34.34sWARNcontroller_managerOverrun might occur, Total time : 1816.754 us (Expected < 1666.667 us) --> Read time : 355.049 us, Update time : 222.555 us, Write time : 1239.150 us + 34.34sWARNros2_control_nodeOverrun might occur, Total time : 1816.754 us (Expected < 1666.667 us) --> Read time : 355.049 us, Update time : 222.555 us, Write time : 1239.150 us[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926982 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926982 ms (missed cycles : 2).[0m ×2 + 35.37sWARNcontroller_managerOverrun might occur, Total time : 2128.578 us (Expected < 1666.667 us) --> Read time : 245.846 us, Update time : 87.072 us, Write time : 1795.660 us + 35.38sWARNros2_control_nodeOverrun might occur, Total time : 2128.578 us (Expected < 1666.667 us) --> Read time : 245.846 us, Update time : 87.072 us, Write time : 1795.660 us[0m ×2 + 36.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010075107433246 + 36.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010075107433246[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847311 ms (missed cycles : 3). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847311 ms (missed cycles : 3).[0m ×2 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009518807980733 + 36.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009518807980733[0m ×2 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013169442736325 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013169442736325[0m ×2 + 36.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005811445038725 + 36.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005811445038725[0m ×2 + 36.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009866826562896 + 36.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009866826562896[0m ×2 + 36.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015463936686020 + 36.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015463936686020[0m ×2 + 36.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002774699701998 + 36.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002774699701998[0m ×2 + 36.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008540487929202 + 36.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008540487929202[0m ×2 + 36.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012690673539262 ×2 + 36.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012690673539262[0m ×4 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058362248866 + 36.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058362248866[0m ×2 + 36.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017046043854786 + 36.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017046043854786[0m ×2 + 36.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007749444018053 + 36.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007749444018053[0m ×2 + 36.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007789373018312 ×2 + 36.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007789373018312[0m ×4 + 36.42sWARNcontroller_managerOverrun might occur, Total time : 2381.484 us (Expected < 1666.667 us) --> Read time : 263.406 us, Update time : 66.282 us, Write time : 2051.796 us + 36.43sWARNros2_control_nodeOverrun might occur, Total time : 2381.484 us (Expected < 1666.667 us) --> Read time : 263.406 us, Update time : 66.282 us, Write time : 2051.796 us[0m ×2 + 36.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008893565480507 + 36.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008893565480507[0m ×2 + 36.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009279267689581 + 36.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009279267689581[0m ×2 + 36.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011437565841768 + 36.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011437565841768[0m ×2 + 36.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004863876397430 + 36.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004863876397430[0m ×2 + 36.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009884053576772 + 36.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009884053576772[0m ×2 + 36.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401605046834 + 36.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401605046834[0m ×2 + 36.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276735998210 + 36.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276735998210[0m ×2 + 36.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010017389340085 + 36.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010017389340085[0m ×2 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005318572638944 + 36.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005318572638944[0m ×2 + 36.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056759718271 + 36.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056759718271[0m ×2 + 36.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004916565531977 + 36.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004916565531977[0m ×2 + 36.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014713834888208 + 36.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014713834888208[0m ×2 + 36.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435902695279 + 36.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435902695279[0m ×2 + 36.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006845647115566 + 36.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006845647115566[0m ×2 + 36.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278251208611 + 36.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278251208611[0m ×2 + 36.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016385706154491 + 36.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016385706154491[0m ×2 + 36.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010139724433092 + 36.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010139724433092[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012105870824599 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012105870824599[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011007216465381 + 36.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011007216465381[0m ×2 + 36.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018241963146473 + 36.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018241963146473[0m ×2 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004785600012950 + 36.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004785600012950[0m ×2 + 36.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021374559472682 ×2 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021374559472682[0m ×4 + 36.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008935552816338 + 36.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008935552816338[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008632147489729 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008632147489729[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021776447639723 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021776447639723[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006904699501281 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006904699501281[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000432050362559 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000432050362559[0m ×2 + 36.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005729589757489 + 36.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005729589757489[0m ×2 + 36.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009493381880171 + 36.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009493381880171[0m ×2 + 36.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010263941295190 ×2 + 36.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010263941295190[0m ×4 + 36.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002121484311700 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002121484311700[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005612066084585 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005612066084585[0m ×2 + 36.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005469176841492 + 36.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005469176841492[0m ×2 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001737818419475 ×2 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001737818419475[0m ×4 + 36.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006003745376850 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006003745376850[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008865356539557 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008865356539557[0m ×2 + 36.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001377576023560 + 36.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001377576023560[0m ×2 + 36.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608470048666 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608470048666[0m ×2 + 36.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008684255768308 + 36.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008684255768308[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518643766980 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518643766980[0m ×2 + 36.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003579770279977 + 36.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003579770279977[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680225185325 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680225185325[0m ×2 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002945972475676 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002945972475676[0m ×2 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018744859520 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018744859520[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676957836184 + 36.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676957836184[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002995861450392 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002995861450392[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150432091048 ×2 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150432091048[0m ×4 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007090366276771 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007090366276771[0m ×2 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008391614979268 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008391614979268[0m ×2 + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003155507817744 + 37.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003155507817744[0m ×2 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006592275181970 ×2 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006592275181970[0m ×4 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010070632188720 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010070632188720[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054947603155 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054947603155[0m ×2 + 37.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006084062954171 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006084062954171[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001222528331346 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001222528331346[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475653774276 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475653774276[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000446569483394 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000446569483394[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157496130732 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157496130732[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617359048179 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617359048179[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001012465727600 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001012465727600[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041819916317 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041819916317[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000490605841788 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000490605841788[0m ×2 + 37.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974472891985 + 37.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974472891985[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001038267999628 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001038267999628[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775269773913 ×2 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775269773913[0m ×4 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001146261696885 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001146261696885[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000801823803344 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000801823803344[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001138750504259 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001138750504259[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259563 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259563 ms (missed cycles : 2).[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001113607864309 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001113607864309[0m ×2 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001347775198452 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001347775198452[0m ×2 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057939054613 + 37.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057939054613[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046120683715 ×2 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046120683715[0m ×4 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002143684359921 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002143684359921[0m ×2 + 37.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944154565558 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944154565558[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002042638737587 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002042638737587[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000456749919442 ×2 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000456749919442[0m ×4 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052178006907 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052178006907[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000947671515177 + 37.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000947671515177[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001061215604560 + 37.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001061215604560[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887377676716 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887377676716[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001081346670124 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001081346670124[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940724545530 ×2 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940724545530[0m ×4 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001088347370942 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001088347370942[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002116752673881 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002116752673881[0m ×2 + 37.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945530744513 + 37.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945530744513[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000462634047054 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000462634047054[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031738698988 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031738698988[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000928102675561 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000928102675561[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880613882468 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880613882468[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888661921035 ×2 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888661921035[0m ×4 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069515315858 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069515315858[0m ×2 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000953593707038 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000953593707038[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069088647053 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069088647053[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000580391864795 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000580391864795[0m ×2 + 37.58sWARNcontroller_managerOverrun might occur, Total time : 1760.800 us (Expected < 1666.667 us) --> Read time : 347.368 us, Update time : 960.832 us, Write time : 452.600 us + 37.58sWARNros2_control_nodeOverrun might occur, Total time : 1760.800 us (Expected < 1666.667 us) --> Read time : 347.368 us, Update time : 960.832 us, Write time : 452.600 us[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001378426822228 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001378426822228[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000863777079284 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081822794619 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000863777079284[0m ×2 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081822794619[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002150627339303 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002150627339303[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000951882383904 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000951882383904[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002051386510279 ×2 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002051386510279[0m ×4 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000438491894099 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000438491894099[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067606938810 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067606938810[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000944872030246 + 37.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000944872030246[0m ×2 + 37.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882220592691 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882220592691[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001064319404704 ×2 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001064319404704[0m ×4 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888930836951 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888930836951[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000950203344512 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000950203344512[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582544817882 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582544817882[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383284727321 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383284727321[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873956096966 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873956096966[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001085399150369 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001085399150369[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001049102665954 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001049102665954[0m ×2 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002150720015539 + 37.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002150720015539[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000961621013557 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000961621013557[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052129425267 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052129425267[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453025500642 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453025500642[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001066678341595 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001066678341595[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000950333847442 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000950333847442[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885282318031 ×2 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885282318031[0m ×4 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001065666988865 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001065666988865[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001084436338453 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001084436338453[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000997678023561 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000997678023561[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002156149199721 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002156149199721[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000964536190406 ×2 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000964536190406[0m ×4 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062162272623 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062162272623[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086042435555 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086042435555[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000899308961239 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000899308961239[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001061045215574 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001061045215574[0m ×2 + 38.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900035686122 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900035686122[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085101293758 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085101293758[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000949513903204 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000949513903204[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001086946694457 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001086946694457[0m ×2 + 38.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000551763485151 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000551763485151[0m ×2 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383241578442 + 38.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383241578442[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874857801865 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874857801865[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091706067620 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091706067620[0m ×2 + 38.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046371164988 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046371164988[0m ×2 + 38.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147875625568 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147875625568[0m ×2 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000957569812659 + 38.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000957569812659[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048558693764 ×2 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048558693764[0m ×4 + 38.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455934373280 + 38.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455934373280[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071809811875 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071809811875[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001070553237866 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001070553237866[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894699712050 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894699712050[0m ×2 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090817939585 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090817939585[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947319257546 ×2 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947319257546[0m ×4 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090181932351 + 38.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090181932351[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000561516876868 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000561516876868[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383759396220 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383759396220[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874951392653 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874951392653[0m ×2 + 38.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093406799497 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093406799497[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147386537344 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147386537344[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000959442003543 ×2 + 38.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000959442003543[0m ×4 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002049427114530 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002049427114530[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000454939742088 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000454939742088[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159829 ms (missed cycles : 5). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159829 ms (missed cycles : 5).[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071662754562 + 38.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071662754562[0m ×2 + 38.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069667435135 + 38.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069667435135[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000893218485447 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000893218485447[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945477883310 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945477883310[0m ×2 + 38.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001088683518013 + 38.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001088683518013[0m ×2 + 38.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000541366531974 ×2 + 38.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000541366531974[0m ×4 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380798709742 + 38.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380798709742[0m ×2 + 38.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000877206190376 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000877206190376[0m ×2 + 38.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090074282926 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090074282926[0m ×2 + 38.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001048017787814 + 38.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001048017787814[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002148353286626 ×2 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002148353286626[0m ×4 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956165004092 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956165004092[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045445063381 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045445063381[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458928197270 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458928197270[0m ×2 + 38.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074152067492 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074152067492[0m ×2 + 38.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000953787073566 ×2 + 38.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000953787073566[0m ×4 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892856838059 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892856838059[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001073504444934 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001073504444934[0m ×2 + 38.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001093727679437 ×2 + 38.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001093727679437[0m ×4 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000586073561336 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000586073561336[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873221812137 + 38.59sWARNcontroller_managerOverrun might occur, Total time : 2030.246 us (Expected < 1666.667 us) --> Read time : 189.934 us, Update time : 1125.416 us, Write time : 714.896 us + 38.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873221812137[0m ×2 + 38.60sWARNros2_control_nodeOverrun might occur, Total time : 2030.246 us (Expected < 1666.667 us) --> Read time : 189.934 us, Update time : 1125.416 us, Write time : 714.896 us[0m ×2 + 38.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002145192166802 + 38.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002145192166802[0m ×2 + 38.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963976168326 + 38.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963976168326[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052029056687 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052029056687[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000452379949523 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000452379949523[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070553283420 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070553283420[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000951145747182 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000951145747182[0m ×2 + 38.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884808035997 ×2 + 38.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884808035997[0m ×4 + 38.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067444054787 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067444054787[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888482679326 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888482679326[0m ×2 + 38.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085889517055 + 38.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085889517055[0m ×2 + 38.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995639274173 + 38.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995639274173[0m ×2 + 38.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083230069246 + 38.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083230069246[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967674499698 ×2 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967674499698[0m ×4 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050017789803 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050017789803[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000443965402331 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000443965402331[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080512192009 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080512192009[0m ×2 + 38.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000938844445578 ×2 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000938844445578[0m ×4 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896288183498 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896288183498[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001058357475138 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001058357475138[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001081560175505 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001081560175505[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000946736831620 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000946736831620[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083060543356 + 38.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083060543356[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000514751624331 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000514751624331[0m ×2 + 38.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376536980482 ×2 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376536980482[0m ×4 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000879219415068 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000879219415068[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423557516132 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423557516132[0m ×2 + 38.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404562537588 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404562537588[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000440110038657 + 38.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000440110038657[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387860067692 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387860067692[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000888826607982 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000888826607982[0m ×2 + 38.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000457847712733 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000457847712733[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000897150603403 ×2 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000897150603403[0m ×4 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465655979972 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465655979972[0m ×2 + 39.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369238032563 + 39.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369238032563[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899930006500 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899930006500[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468153058156 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468153058156[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900469272182 ×2 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900469272182[0m ×4 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899651672841 ×2 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899651672841[0m ×4 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468526834759 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468526834759[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368453043494 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368453043494[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901064699266 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901064699266[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468671085199 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468671085199[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367593011692 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367593011692[0m ×2 + 39.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900235965743 ×2 + 39.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900235965743[0m ×4 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468114074973 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468114074973[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368276076860 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368276076860[0m ×2 + 39.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899861379511 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899861379511[0m ×2 + 39.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899867149306 + 39.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899867149306[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468164869693 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468164869693[0m ×2 + 39.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368248067525 ×2 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368248067525[0m ×4 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899240618011 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899240618011[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468233265755 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468233265755[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368592373721 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368592373721[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900942767849 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900942767849[0m ×2 + 39.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468588262442 + 39.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468588262442[0m ×2 + 39.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367634685071 + 39.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367634685071[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900185528952 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900185528952[0m ×2 + 39.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468087004525 + 39.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468087004525[0m ×2 + 39.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368307842257 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603815 ms (missed cycles : 3). + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368307842257[0m ×2 + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603815 ms (missed cycles : 3).[0m ×2 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037627876 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037627876[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468194691677 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468194691677[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899257224720 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899257224720[0m ×2 + 39.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468246548112 ×2 + 39.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468246548112[0m ×4 + 39.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900884893154 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900884893154[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367663301859 + 39.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367663301859[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900213788259 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900213788259[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468118944321 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468118944321[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368234286771 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368234286771[0m ×2 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899825950028 + 39.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899825950028[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468029609028 + 39.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468029609028[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368348037268 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368348037268[0m ×2 + 39.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899865594591 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899865594591[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468175188541 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468175188541[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368230816156 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368230816156[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899254967410 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899254967410[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468276046700 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468276046700[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368544151313 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368544151313[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900834157707 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900834157707[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468537981842 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468537981842[0m ×2 + 39.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367757939996 + 39.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367757939996[0m ×2 + 39.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900160796902 + 39.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900160796902[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468133599235 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468133599235[0m ×2 + 39.60sWARNcontroller_managerOverrun might occur, Total time : 7941.098 us (Expected < 1666.667 us) --> Read time : 335.008 us, Update time : 6902.555 us, Write time : 703.535 us + 39.60sWARNros2_control_nodeOverrun might occur, Total time : 7941.098 us (Expected < 1666.667 us) --> Read time : 335.008 us, Update time : 6902.555 us, Write time : 703.535 us[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368299831225 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368299831225[0m ×2 + 39.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468055507434 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468055507434[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368338496867 + 39.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368338496867[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899862333998 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899862333998[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468205210989 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468205210989[0m ×2 + 39.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368193228265 + 39.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368193228265[0m ×2 + 39.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899274658179 + 39.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899274658179[0m ×2 + 39.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468249038913 ×2 + 39.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468249038913[0m ×4 + 39.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623370583 + 39.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623370583[0m ×2 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900886204652 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900886204652[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468548055077 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468548055077[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900216648918 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900216648918[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468090367387 ×2 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468090367387[0m ×4 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368294410297 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368294410297[0m ×2 + 39.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899805987648 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899805987648[0m ×2 + 39.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468009638034 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468009638034[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468177935926 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468177935926[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899258013544 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899258013544[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468241615463 + 39.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468241615463[0m ×2 + 39.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623125396 + 39.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623125396[0m ×2 + 39.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900887902704 + 39.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900887902704[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468549920062 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468549920062[0m ×2 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367699418744 ×2 + 39.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367699418744[0m ×4 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900205655671 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900205655671[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468117969742 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468117969742[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368282038743 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368282038743[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899812697022 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899812697022[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468028675544 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468028675544[0m ×2 + 39.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368366583475 ×2 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368366583475[0m ×4 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899838874196 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899838874196[0m ×2 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468148372940 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468148372940[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368213542091 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368213542091[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368613377109 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368613377109[0m ×2 + 40.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900910705755 + 40.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900910705755[0m ×2 + 40.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570[0m ×2 + 40.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838 + 40.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838[0m ×2 + 40.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360 + 40.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360[0m ×2 + 40.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333 + 40.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218 + 40.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188 + 40.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188[0m ×2 + 40.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021 ×2 + 40.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021[0m ×4 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865[0m ×2 + 40.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895 + 40.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895[0m ×2 + 40.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682 ×2 + 40.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682[0m ×4 + 40.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887 + 40.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794[0m ×2 + 40.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485 + 40.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485[0m ×2 + 40.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913 + 40.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102[0m ×2 + 40.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810 + 40.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543 ×2 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543[0m ×4 + 40.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465 + 40.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465[0m ×2 + 40.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215 + 40.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215[0m ×2 + 40.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050 + 40.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050[0m ×2 + 40.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910 + 40.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257[0m ×2 + 40.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174 + 40.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174[0m ×2 + 40.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897 + 40.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897[0m ×2 + 40.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820 + 40.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820[0m ×2 + 40.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426 + 40.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3). + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623 ×2 + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3).[0m ×2 + 40.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623[0m ×4 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923 ×2 + 40.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923[0m ×4 + 40.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139 + 40.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139[0m ×2 + 40.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736 + 40.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736[0m ×2 + 40.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131 + 40.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131[0m ×2 + 40.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611 ×2 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611[0m ×4 + 40.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535 + 40.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535[0m ×2 + 40.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244 + 40.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244[0m ×2 + 40.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791 + 40.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791[0m ×2 + 40.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611 + 40.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611[0m ×2 + 40.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796 + 40.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796[0m ×2 + 40.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112 + 40.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112[0m ×2 + 40.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646[0m ×2 + 40.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098 ×2 + 40.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098[0m ×4 + 40.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531 + 40.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531[0m ×2 + 40.63sWARNcontroller_managerOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us + 40.63sWARNros2_control_nodeOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us[0m ×2 + 40.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190 + 40.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190[0m ×2 + 40.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318 + 40.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318[0m ×2 + 40.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514 + 40.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514[0m ×2 + 40.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320 + 40.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320[0m ×2 + 40.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863 + 40.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863[0m ×2 + 40.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525 + 40.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525[0m ×2 + 40.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775 ×2 + 40.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775[0m ×4 + 40.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824 + 40.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824[0m ×2 + 40.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697 + 40.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697[0m ×2 + 40.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428 ×2 + 40.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428[0m ×4 + 40.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227 + 40.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227[0m ×2 + 40.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666 + 40.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666[0m ×2 + 40.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279 + 40.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279[0m ×2 + 40.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796 + 40.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796[0m ×2 + 40.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633 + 40.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633[0m ×2 + 40.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247 + 40.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247[0m ×2 + 40.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105[0m ×2 + 40.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710[0m ×2 + 40.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576 + 40.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576[0m ×2 + 40.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099 + 40.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099[0m ×2 + 40.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326 + 40.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326[0m ×2 + 40.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624 + 40.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624[0m ×2 + 41.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2). + 41.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2).[0m ×2 + 41.55sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×6 + 41.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130517.56949306 seconds ×3 + 41.69sWARNcontroller_managerOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us + 41.69sWARNros2_control_nodeOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us[0m ×2 + 42.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781130518.16481829 seconds. ×3 + 42.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 42.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 42.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 42.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 42.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 42.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 42.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 42.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 42.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 42.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 42.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 42.30sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Received new action goal ×2 + 42.30sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Accepted new action goal ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2).[0m ×2 + 42.76sWARNcontroller_managerOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us + 42.76sWARNros2_control_nodeOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us[0m ×2 + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4).[0m ×2 + 43.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130519.55684900 seconds ×3 + 43.93sWARNcontroller_managerOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us + 43.93sWARNros2_control_nodeOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us[0m ×2 + 44.16sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781130520.17067432 seconds. ×3 + 44.28sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 44.28sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 44.32sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 44.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 44.34sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Received new action goal ×2 + 44.34sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Accepted new action goal ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3).[0m ×2
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	31.8s	213 warnings · 2437 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289965 ms (missed cycles : 5). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289965 ms (missed cycles : 5).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 5972.267 us (Expected < 1666.667 us) --> Read time : 276.976 us, Update time : 5140.659 us, Write time : 554.632 us + 0.58sWARNros2_control_nodeOverrun might occur, Total time : 5972.267 us (Expected < 1666.667 us) --> Read time : 276.976 us, Update time : 5140.659 us, Write time : 554.632 us[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113990 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113990 ms (missed cycles : 5).[0m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 7912.573 us (Expected < 1666.667 us) --> Read time : 180.154 us, Update time : 7040.763 us, Write time : 691.656 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 7912.573 us (Expected < 1666.667 us) --> Read time : 180.154 us, Update time : 7040.763 us, Write time : 691.656 us[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533348 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533348 ms (missed cycles : 3).[0m ×2 + 2.90sWARNcontroller_managerOverrun might occur, Total time : 4044.112 us (Expected < 1666.667 us) --> Read time : 183.844 us, Update time : 80.862 us, Write time : 3779.406 us + 2.90sWARNros2_control_nodeOverrun might occur, Total time : 4044.112 us (Expected < 1666.667 us) --> Read time : 183.844 us, Update time : 80.862 us, Write time : 3779.406 us[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892528 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892528 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781130557.70038819 seconds ×3 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 1889.904 us (Expected < 1666.667 us) --> Read time : 110.683 us, Update time : 1308.520 us, Write time : 470.701 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 1889.904 us (Expected < 1666.667 us) --> Read time : 110.683 us, Update time : 1308.520 us, Write time : 470.701 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781130558.34253097 seconds. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773590 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773590 ms (missed cycles : 2).[0m ×2 + 4.60sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.60sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1695.400 us (Expected < 1666.667 us) --> Read time : 452.461 us, Update time : 172.044 us, Write time : 1070.895 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1695.400 us (Expected < 1666.667 us) --> Read time : 452.461 us, Update time : 172.044 us, Write time : 1070.895 us[0m ×2 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.31sINFOobjective_server_nodeFound path in 6 iterations (0.00506599 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.38sINFOros2_control_node[2026-06-10 22:29:19.529] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-06-10 22:29:19.529] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187667 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187667 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 2252.022 us (Expected < 1666.667 us) --> Read time : 564.983 us, Update time : 97.982 us, Write time : 1589.057 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 2252.022 us (Expected < 1666.667 us) --> Read time : 564.983 us, Update time : 97.982 us, Write time : 1589.057 us[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.447370 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.447370 ms (missed cycles : 4).[0m ×2 + 7.35sWARNcontroller_managerOverrun might occur, Total time : 2657.481 us (Expected < 1666.667 us) --> Read time : 179.094 us, Update time : 2049.867 us, Write time : 428.520 us + 7.35sWARNros2_control_nodeOverrun might occur, Total time : 2657.481 us (Expected < 1666.667 us) --> Read time : 179.094 us, Update time : 2049.867 us, Write time : 428.520 us[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480132 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480132 ms (missed cycles : 4).[0m ×2 + 8.42sWARNcontroller_managerOverrun might occur, Total time : 2063.238 us (Expected < 1666.667 us) --> Read time : 785.978 us, Update time : 145.694 us, Write time : 1131.566 us + 8.42sWARNros2_control_nodeOverrun might occur, Total time : 2063.238 us (Expected < 1666.667 us) --> Read time : 785.978 us, Update time : 145.694 us, Write time : 1131.566 us[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610108 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610108 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682288 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682288 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun might occur, Total time : 1667.738 us (Expected < 1666.667 us) --> Read time : 930.031 us, Update time : 109.313 us, Write time : 628.394 us + 9.63sWARNros2_control_nodeOverrun might occur, Total time : 1667.738 us (Expected < 1666.667 us) --> Read time : 930.031 us, Update time : 109.313 us, Write time : 628.394 us[0m ×2 + 10.64sWARNcontroller_managerOverrun might occur, Total time : 5905.726 us (Expected < 1666.667 us) --> Read time : 141.743 us, Update time : 5149.079 us, Write time : 614.904 us + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102593 ms (missed cycles : 4). + 10.64sWARNros2_control_nodeOverrun might occur, Total time : 5905.726 us (Expected < 1666.667 us) --> Read time : 141.743 us, Update time : 5149.079 us, Write time : 614.904 us[0m ×2 + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102593 ms (missed cycles : 4).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187972 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187972 ms (missed cycles : 3).[0m ×2 + 11.72sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.50% of iterations over budget over 4:10.014 of wall time (1150/76723). Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.81sWARNcontroller_managerOverrun might occur, Total time : 6167.772 us (Expected < 1666.667 us) --> Read time : 276.056 us, Update time : 5322.443 us, Write time : 569.273 us + 11.81sWARNros2_control_nodeOverrun might occur, Total time : 6167.772 us (Expected < 1666.667 us) --> Read time : 276.056 us, Update time : 5322.443 us, Write time : 569.273 us[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163259 ms (missed cycles : 5). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163259 ms (missed cycles : 5).[0m ×2 + 13.04sWARNcontroller_managerOverrun might occur, Total time : 6366.046 us (Expected < 1666.667 us) --> Read time : 218.455 us, Update time : 5532.537 us, Write time : 615.054 us + 13.04sWARNros2_control_nodeOverrun might occur, Total time : 6366.046 us (Expected < 1666.667 us) --> Read time : 218.455 us, Update time : 5532.537 us, Write time : 615.054 us[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197156 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197156 ms (missed cycles : 2).[0m ×2 + 14.38sWARNcontroller_managerOverrun might occur, Total time : 1714.229 us (Expected < 1666.667 us) --> Read time : 199.795 us, Update time : 50.871 us, Write time : 1463.563 us + 14.38sWARNros2_control_nodeOverrun might occur, Total time : 1714.229 us (Expected < 1666.667 us) --> Read time : 199.795 us, Update time : 50.871 us, Write time : 1463.563 us[0m ×2 + 14.65sINFOobjective_server_node[0;m[0;93m2026-06-10 22:29:28.802522067 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 14.65sINFOobjective_server_node[0;93m2026-06-10 22:29:28.802560278 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127072 ms (missed cycles : 5). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127072 ms (missed cycles : 5).[0m ×2 + 15.17sINFOobjective_server_node[0;93m2026-06-10 22:29:29.313751213 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.17sINFOobjective_server_node[0;93m2026-06-10 22:29:29.313790874 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.29sINFOobjective_server_node[0;93m2026-06-10 22:29:29.437495481 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 15.29sINFOobjective_server_node[0;93m2026-06-10 22:29:29.440308496 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.29sINFOobjective_server_node[0;93m2026-06-10 22:29:29.440347297 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.62sWARNcontroller_managerOverrun might occur, Total time : 2725.372 us (Expected < 1666.667 us) --> Read time : 188.084 us, Update time : 2018.256 us, Write time : 519.032 us + 15.63sWARNros2_control_nodeOverrun might occur, Total time : 2725.372 us (Expected < 1666.667 us) --> Read time : 188.084 us, Update time : 2018.256 us, Write time : 519.032 us[0m ×2 + 15.64sINFOobjective_server_node[0;93m2026-06-10 22:29:29.789800438 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 15.67sINFOobjective_server_node[0;93m2026-06-10 22:29:29.811603331 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.67sINFOobjective_server_node[0;93m2026-06-10 22:29:29.811653532 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031119 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031119 ms (missed cycles : 2).[0m ×2 + 16.73sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/masks_visualization" + 16.73sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/masks_visualization"[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520209 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520209 ms (missed cycles : 2).[0m ×2 + 16.85sWARNcontroller_managerOverrun might occur, Total time : 6931.580 us (Expected < 1666.667 us) --> Read time : 196.685 us, Update time : 54.751 us, Write time : 6680.144 us + 16.86sWARNros2_control_nodeOverrun might occur, Total time : 6931.580 us (Expected < 1666.667 us) --> Read time : 196.685 us, Update time : 54.751 us, Write time : 6680.144 us[0m ×2 + 17.70sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.74sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures" + 17.74sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures"[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309531 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309531 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun might occur, Total time : 1725.750 us (Expected < 1666.667 us) --> Read time : 127.863 us, Update time : 1227.948 us, Write time : 369.939 us + 17.86sWARNros2_control_nodeOverrun might occur, Total time : 1725.750 us (Expected < 1666.667 us) --> Read time : 127.863 us, Update time : 1227.948 us, Write time : 369.939 us[0m ×2 + 18.24sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 18.24sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122551 ms (missed cycles : 5). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122551 ms (missed cycles : 5).[0m ×2 + 19.28sWARNcontroller_managerOverrun might occur, Total time : 3073.531 us (Expected < 1666.667 us) --> Read time : 257.456 us, Update time : 2356.764 us, Write time : 459.311 us + 19.28sWARNros2_control_nodeOverrun might occur, Total time : 3073.531 us (Expected < 1666.667 us) --> Read time : 257.456 us, Update time : 2356.764 us, Write time : 459.311 us[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393719 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393719 ms (missed cycles : 2).[0m ×2 + 20.31sWARNcontroller_managerOverrun might occur, Total time : 2439.686 us (Expected < 1666.667 us) --> Read time : 257.006 us, Update time : 40.581 us, Write time : 2142.099 us + 20.31sWARNros2_control_nodeOverrun might occur, Total time : 2439.686 us (Expected < 1666.667 us) --> Read time : 257.006 us, Update time : 40.581 us, Write time : 2142.099 us[0m ×2 + 20.59sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.77sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution" + 20.78sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution"[0m ×2 + 20.92sINFOobjective_server_nodeFound path in 4 iterations (0.00237162 s). ×2 + 20.98sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 21.01sINFOobjective_server_nodeFound path in 12 iterations (0.00390011 s). ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029761 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029761 ms (missed cycles : 2).[0m ×2 + 21.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 21.10sINFOobjective_server_nodeFound path in 2 iterations (0.00339895 s). ×2 + 21.14sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 21.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 21.18sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 21.20sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 21.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 21.26sINFOobjective_server_nodeFound path in 12 iterations (0.00589176 s). ×2 + 21.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 21.35sINFOobjective_server_nodeFound path in 1 iterations (0.00442116 s). ×2 + 21.40sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 21.43sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 21.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.48sINFOobjective_server_nodeFound path in 4 iterations (0.00435194 s). ×2 + 21.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.58sINFOobjective_server_nodeFound path in 4 iterations (0.00255861 s). ×2 + 21.63sWARNcontroller_managerOverrun might occur, Total time : 1784.081 us (Expected < 1666.667 us) --> Read time : 225.546 us, Update time : 1075.424 us, Write time : 483.111 us + 21.63sWARNros2_control_nodeOverrun might occur, Total time : 1784.081 us (Expected < 1666.667 us) --> Read time : 225.546 us, Update time : 1075.424 us, Write time : 483.111 us[0m ×2 + 21.66sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 21.69sINFOobjective_server_nodeFound path in 1 iterations (0.00556902 s). ×2 + 21.74sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 21.76sINFOobjective_server_nodeFound path in 1 iterations (0.00238301 s). ×2 + 21.84sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.91sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 21.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X] ×2 + 22.02sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836410 ms (missed cycles : 6). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836410 ms (missed cycles : 6).[0m ×2 + 22.09sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 22.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 22.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.23sINFOros2_control_node[2026-06-10 22:29:36.381] [info] Received new action goal ×2 + 22.23sINFOros2_control_node[2026-06-10 22:29:36.381] [info] Accepted new action goal ×2 + 22.66sWARNcontroller_managerOverrun might occur, Total time : 1814.062 us (Expected < 1666.667 us) --> Read time : 399.239 us, Update time : 1025.584 us, Write time : 389.239 us + 22.67sWARNros2_control_nodeOverrun might occur, Total time : 1814.062 us (Expected < 1666.667 us) --> Read time : 399.239 us, Update time : 1025.584 us, Write time : 389.239 us[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022191 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022191 ms (missed cycles : 2).[0m ×2 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740741 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740741 ms (missed cycles : 3).[0m ×2 + 24.26sWARNcontroller_managerOverrun might occur, Total time : 2665.062 us (Expected < 1666.667 us) --> Read time : 259.176 us, Update time : 1980.246 us, Write time : 425.640 us + 24.26sWARNros2_control_nodeOverrun might occur, Total time : 2665.062 us (Expected < 1666.667 us) --> Read time : 259.176 us, Update time : 1980.246 us, Write time : 425.640 us[0m ×2 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380524 ms (missed cycles : 3). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380524 ms (missed cycles : 3).[0m ×2 + 25.44sWARNcontroller_managerOverrun might occur, Total time : 2521.879 us (Expected < 1666.667 us) --> Read time : 254.406 us, Update time : 843.170 us, Write time : 1424.303 us + 25.44sWARNros2_control_nodeOverrun might occur, Total time : 2521.879 us (Expected < 1666.667 us) --> Read time : 254.406 us, Update time : 843.170 us, Write time : 1424.303 us[0m ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744755 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744755 ms (missed cycles : 2).[0m ×2 + 26.81sWARNcontroller_managerOverrun might occur, Total time : 2448.037 us (Expected < 1666.667 us) --> Read time : 221.725 us, Update time : 1815.732 us, Write time : 410.580 us + 26.82sWARNros2_control_nodeOverrun might occur, Total time : 2448.037 us (Expected < 1666.667 us) --> Read time : 221.725 us, Update time : 1815.732 us, Write time : 410.580 us[0m ×2 + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890308 ms (missed cycles : 4). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890308 ms (missed cycles : 4).[0m ×2 + 27.24sINFOros2_control_node[2026-06-10 22:29:41.383] [info] Received new action goal ×2 + 27.24sINFOros2_control_node[2026-06-10 22:29:41.383] [info] Accepted new action goal ×2 + 27.84sWARNcontroller_managerOverrun might occur, Total time : 2817.984 us (Expected < 1666.667 us) --> Read time : 902.051 us, Update time : 82.522 us, Write time : 1833.411 us + 27.84sWARNros2_control_nodeOverrun might occur, Total time : 2817.984 us (Expected < 1666.667 us) --> Read time : 902.051 us, Update time : 82.522 us, Write time : 1833.411 us[0m ×2 + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469757 ms (missed cycles : 7). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469757 ms (missed cycles : 7).[0m ×2 + 28.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.84sINFOros2_control_node[2026-06-10 22:29:42.985] [info] Received new action goal ×2 + 28.84sINFOros2_control_node[2026-06-10 22:29:42.985] [info] Accepted new action goal ×2 + 29.02sWARNcontroller_managerOverrun might occur, Total time : 3839.119 us (Expected < 1666.667 us) --> Read time : 281.867 us, Update time : 89.182 us, Write time : 3468.070 us + 29.03sWARNros2_control_nodeOverrun might occur, Total time : 3839.119 us (Expected < 1666.667 us) --> Read time : 281.867 us, Update time : 89.182 us, Write time : 3468.070 us[0m ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274958 ms (missed cycles : 4). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274958 ms (missed cycles : 4).[0m ×2 + 30.05sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.10sINFOros2_control_node[2026-06-10 22:29:44.243] [info] Received new action goal ×2 + 30.10sINFOros2_control_node[2026-06-10 22:29:44.243] [info] Accepted new action goal ×2 + 30.20sWARNcontroller_managerOverrun might occur, Total time : 1690.729 us (Expected < 1666.667 us) --> Read time : 406.849 us, Update time : 866.410 us, Write time : 417.470 us + 30.21sWARNros2_control_nodeOverrun might occur, Total time : 1690.729 us (Expected < 1666.667 us) --> Read time : 406.849 us, Update time : 866.410 us, Write time : 417.470 us[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2).[0m ×2 + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012794 ms (missed cycles : 2). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012794 ms (missed cycles : 2).[0m ×2 + 31.30sWARNcontroller_managerOverrun might occur, Total time : 2807.374 us (Expected < 1666.667 us) --> Read time : 332.248 us, Update time : 64.541 us, Write time : 2410.585 us + 31.30sWARNros2_control_nodeOverrun might occur, Total time : 2807.374 us (Expected < 1666.667 us) --> Read time : 332.248 us, Update time : 64.541 us, Write time : 2410.585 us[0m ×2 + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5).[0m ×2 + 32.31sWARNcontroller_managerOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us + 32.32sWARNros2_control_nodeOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us[0m ×2 + 33.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2).[0m ×2 + 33.40sWARNcontroller_managerOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us + 33.41sWARNros2_control_nodeOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us[0m ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3).[0m ×2 + 34.46sWARNcontroller_managerOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us + 34.46sWARNros2_control_nodeOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us[0m ×2 + 35.32sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781130589.47284341 seconds ×3 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2).[0m ×2 + 35.61sWARNcontroller_managerOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us + 35.61sWARNros2_control_nodeOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us[0m ×2 + 36.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781130590.25469017 seconds. ×3 + 36.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 36.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.36sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Received new action goal ×2 + 36.36sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Accepted new action goal ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4).[0m ×2 + 36.47sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 36.47sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 36.47sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 36.47sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 36.47sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 36.47sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 36.73sWARNcontroller_managerOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us + 36.74sWARNros2_control_nodeOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2).[0m ×2 + 37.78sWARNcontroller_managerOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us + 37.78sWARNros2_control_nodeOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	28.8s	3 errors · 195 warnings · 132 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 2.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5). + 6.16sWARNcontroller_managerOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5).[0m ×2 + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131995 ms (missed cycles : 5). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131995 ms (missed cycles : 5).[0m ×2 + 7.17sWARNcontroller_managerOverrun might occur, Total time : 2146.178 us (Expected < 1666.667 us) --> Read time : 262.226 us, Update time : 900.880 us, Write time : 983.072 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 2146.178 us (Expected < 1666.667 us) --> Read time : 262.226 us, Update time : 900.880 us, Write time : 983.072 us[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294798 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294798 ms (missed cycles : 4).[0m ×2 + 8.25sWARNcontroller_managerOverrun might occur, Total time : 4527.962 us (Expected < 1666.667 us) --> Read time : 263.836 us, Update time : 3724.174 us, Write time : 539.952 us + 8.25sWARNros2_control_nodeOverrun might occur, Total time : 4527.962 us (Expected < 1666.667 us) --> Read time : 263.836 us, Update time : 3724.174 us, Write time : 539.952 us[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591384 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591384 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun might occur, Total time : 1971.464 us (Expected < 1666.667 us) --> Read time : 184.824 us, Update time : 64.101 us, Write time : 1722.539 us + 9.45sWARNros2_control_nodeOverrun might occur, Total time : 1971.464 us (Expected < 1666.667 us) --> Read time : 184.824 us, Update time : 64.101 us, Write time : 1722.539 us[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291891 ms (missed cycles : 4). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291891 ms (missed cycles : 4).[0m ×2 + 10.63sWARNcontroller_managerOverrun might occur, Total time : 1698.308 us (Expected < 1666.667 us) --> Read time : 230.915 us, Update time : 59.061 us, Write time : 1408.332 us + 10.63sWARNros2_control_nodeOverrun might occur, Total time : 1698.308 us (Expected < 1666.667 us) --> Read time : 230.915 us, Update time : 59.061 us, Write time : 1408.332 us[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205848 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205848 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun might occur, Total time : 2099.015 us (Expected < 1666.667 us) --> Read time : 239.625 us, Update time : 151.574 us, Write time : 1707.816 us + 11.86sWARNros2_control_nodeOverrun might occur, Total time : 2099.015 us (Expected < 1666.667 us) --> Read time : 239.625 us, Update time : 151.574 us, Write time : 1707.816 us[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155919 ms (missed cycles : 2). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155919 ms (missed cycles : 2).[0m ×2 + 13.23sWARNcontroller_managerOverrun might occur, Total time : 1700.996 us (Expected < 1666.667 us) --> Read time : 291.666 us, Update time : 477.020 us, Write time : 932.310 us + 13.24sWARNros2_control_nodeOverrun might occur, Total time : 1700.996 us (Expected < 1666.667 us) --> Read time : 291.666 us, Update time : 477.020 us, Write time : 932.310 us[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712711 ms (missed cycles : 5). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712711 ms (missed cycles : 5).[0m ×2 + 14.34sWARNcontroller_managerOverrun might occur, Total time : 4855.203 us (Expected < 1666.667 us) --> Read time : 4334.752 us, Update time : 67.312 us, Write time : 453.139 us + 14.35sWARNros2_control_nodeOverrun might occur, Total time : 4855.203 us (Expected < 1666.667 us) --> Read time : 4334.752 us, Update time : 67.312 us, Write time : 453.139 us[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373577 ms (missed cycles : 4). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373577 ms (missed cycles : 4).[0m ×2 + 15.43sWARNcontroller_managerOverrun might occur, Total time : 1924.171 us (Expected < 1666.667 us) --> Read time : 246.125 us, Update time : 1209.926 us, Write time : 468.120 us + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156012 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun might occur, Total time : 1924.171 us (Expected < 1666.667 us) --> Read time : 246.125 us, Update time : 1209.926 us, Write time : 468.120 us[0m ×2 + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156012 ms (missed cycles : 2).[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675741 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675741 ms (missed cycles : 3).[0m ×2 + 16.55sWARNcontroller_managerOverrun might occur, Total time : 2219.867 us (Expected < 1666.667 us) --> Read time : 224.925 us, Update time : 80.182 us, Write time : 1914.760 us + 16.55sWARNros2_control_nodeOverrun might occur, Total time : 2219.867 us (Expected < 1666.667 us) --> Read time : 224.925 us, Update time : 80.182 us, Write time : 1914.760 us[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996174 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996174 ms (missed cycles : 3).[0m ×2 + 17.99sWARNcontroller_managerOverrun might occur, Total time : 1699.736 us (Expected < 1666.667 us) --> Read time : 700.305 us, Update time : 88.642 us, Write time : 910.789 us + 18.00sWARNros2_control_nodeOverrun might occur, Total time : 1699.736 us (Expected < 1666.667 us) --> Read time : 700.305 us, Update time : 88.642 us, Write time : 910.789 us[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707013 ms (missed cycles : 3). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707013 ms (missed cycles : 3).[0m ×2 + 19.09sWARNcontroller_managerOverrun might occur, Total time : 1931.361 us (Expected < 1666.667 us) --> Read time : 270.066 us, Update time : 645.594 us, Write time : 1015.701 us + 19.09sWARNros2_control_nodeOverrun might occur, Total time : 1931.361 us (Expected < 1666.667 us) --> Read time : 270.066 us, Update time : 645.594 us, Write time : 1015.701 us[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023962 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023962 ms (missed cycles : 2).[0m ×2 + 20.46sWARNcontroller_managerOverrun might occur, Total time : 2993.373 us (Expected < 1666.667 us) --> Read time : 2158.795 us, Update time : 83.242 us, Write time : 751.336 us + 20.46sWARNros2_control_nodeOverrun might occur, Total time : 2993.373 us (Expected < 1666.667 us) --> Read time : 2158.795 us, Update time : 83.242 us, Write time : 751.336 us[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446843 ms (missed cycles : 4). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446843 ms (missed cycles : 4).[0m ×2 + 21.50sWARNcontroller_managerOverrun might occur, Total time : 1676.786 us (Expected < 1666.667 us) --> Read time : 257.306 us, Update time : 49.721 us, Write time : 1369.759 us + 21.50sWARNros2_control_nodeOverrun might occur, Total time : 1676.786 us (Expected < 1666.667 us) --> Read time : 257.306 us, Update time : 49.721 us, Write time : 1369.759 us[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458705 ms (missed cycles : 4). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458705 ms (missed cycles : 4).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662102 ms (missed cycles : 3). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662102 ms (missed cycles : 3).[0m ×2 + 22.90sWARNcontroller_managerOverrun might occur, Total time : 7744.383 us (Expected < 1666.667 us) --> Read time : 293.706 us, Update time : 6865.875 us, Write time : 584.802 us + 22.90sWARNros2_control_nodeOverrun might occur, Total time : 7744.383 us (Expected < 1666.667 us) --> Read time : 293.706 us, Update time : 6865.875 us, Write time : 584.802 us[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.675379 ms (missed cycles : 8). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.675379 ms (missed cycles : 8).[0m ×2 + 24.12sWARNcontroller_managerOverrun might occur, Total time : 1675.405 us (Expected < 1666.667 us) --> Read time : 269.125 us, Update time : 817.088 us, Write time : 589.192 us + 24.12sWARNros2_control_nodeOverrun might occur, Total time : 1675.405 us (Expected < 1666.667 us) --> Read time : 269.125 us, Update time : 817.088 us, Write time : 589.192 us[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269101 ms (missed cycles : 4). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269101 ms (missed cycles : 4).[0m ×2 + 25.18sWARNcontroller_managerOverrun might occur, Total time : 4358.782 us (Expected < 1666.667 us) --> Read time : 162.273 us, Update time : 3652.547 us, Write time : 543.962 us + 25.18sWARNros2_control_nodeOverrun might occur, Total time : 4358.782 us (Expected < 1666.667 us) --> Read time : 162.273 us, Update time : 3652.547 us, Write time : 543.962 us[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125876 ms (missed cycles : 8). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125876 ms (missed cycles : 8).[0m ×2 + 26.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 26.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 26.09sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 26.16sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 26.16sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m ×2 + 26.22sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 26.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 26.23sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 26.24sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 26.25sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 26.29sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 26.30sWARNcontroller_managerOverrun might occur, Total time : 2128.985 us (Expected < 1666.667 us) --> Read time : 369.188 us, Update time : 46.791 us, Write time : 1713.006 us + 26.30sWARNros2_control_nodeOverrun might occur, Total time : 2128.985 us (Expected < 1666.667 us) --> Read time : 369.188 us, Update time : 46.791 us, Write time : 1713.006 us[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 5 iterations (0.0047109 s). ×2 + 26.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 26.39sINFOros2_control_node[2026-06-10 22:25:59.219] [info] Received new action goal ×2 + 26.39sINFOros2_control_node[2026-06-10 22:25:59.219] [info] Accepted new action goal ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482051 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482051 ms (missed cycles : 3).[0m ×2 + 27.74sWARNcontroller_managerOverrun might occur, Total time : 1878.850 us (Expected < 1666.667 us) --> Read time : 171.354 us, Update time : 44.941 us, Write time : 1662.555 us + 27.74sWARNros2_control_nodeOverrun might occur, Total time : 1878.850 us (Expected < 1666.667 us) --> Read time : 171.354 us, Update time : 44.941 us, Write time : 1662.555 us[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237218 ms (missed cycles : 2). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237218 ms (missed cycles : 2).[0m ×2 + 28.62sINFOros2_control_node[2026-06-10 22:26:01.448] [info] Received new action goal ×2 + 28.62sINFOros2_control_node[2026-06-10 22:26:01.448] [info] Accepted new action goal ×2 + 28.83sWARNcontroller_managerOverrun might occur, Total time : 1833.999 us (Expected < 1666.667 us) --> Read time : 149.494 us, Update time : 63.051 us, Write time : 1621.454 us + 28.83sWARNros2_control_nodeOverrun might occur, Total time : 1833.999 us (Expected < 1666.667 us) --> Read time : 149.494 us, Update time : 63.051 us, Write time : 1621.454 us[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6).[0m ×2 + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6).[0m ×2 + 30.18sWARNcontroller_managerOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us + 30.18sWARNros2_control_nodeOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us[0m ×2 + 30.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 30.33sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Received new action goal ×2 + 30.33sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Accepted new action goal ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2).[0m ×2 + 31.19sWARNcontroller_managerOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us + 31.19sWARNros2_control_nodeOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us[0m ×2 + 31.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781130364.44359660 seconds ×3 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3).[0m ×2 + 32.21sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781130365.03731751 seconds. ×3 + 32.24sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 32.24sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 32.26sWARNcontroller_managerOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us + 32.26sWARNros2_control_nodeOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us[0m ×2 + 32.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781130365.11749005 seconds ×3 + 32.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781130365.74228358 seconds. ×3 + 33.01sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 33.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 33.02sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Received new action goal ×2 + 33.02sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Accepted new action goal ×2 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3).[0m ×2 + 33.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 33.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 33.74sWARNcontroller_managerOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us + 33.74sWARNros2_control_nodeOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8).[0m ×2 + 34.80sWARNcontroller_managerOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us + 34.80sWARNros2_control_nodeOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us[0m ×2 + 35.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4).[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.8s	3 errors · 102 warnings · 130 info
+ 0.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.04sINFOros2_control_node[2026-06-10 22:26:34.631] [info] Received new action goal ×2 + 0.04sINFOros2_control_node[2026-06-10 22:26:34.631] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047016 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047016 ms (missed cycles : 2).[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 1878.573 us (Expected < 1666.667 us) --> Read time : 158.734 us, Update time : 64.511 us, Write time : 1655.328 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 1878.573 us (Expected < 1666.667 us) --> Read time : 158.734 us, Update time : 64.511 us, Write time : 1655.328 us[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995905 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995905 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077900 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077900 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 2.42sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 2.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.51sINFOobjective_server_nodeFound path in 5 iterations (0.00610976 s). ×2 + 2.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 2.60sINFOros2_control_node[2026-06-10 22:26:37.185] [info] Received new action goal ×2 + 2.60sINFOros2_control_node[2026-06-10 22:26:37.185] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 1705.719 us (Expected < 1666.667 us) --> Read time : 165.064 us, Update time : 492.361 us, Write time : 1048.294 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 1705.719 us (Expected < 1666.667 us) --> Read time : 165.064 us, Update time : 492.361 us, Write time : 1048.294 us[0m ×2 + 3.00sINFOros2_control_node[2026-06-10 22:26:37.587] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-06-10 22:26:37.587] [info] Accepted new action goal ×2 + 3.28sINFOros2_control_node[2026-06-10 22:26:37.871] [info] Got request to cancel active goal. ×2 + 3.28sINFOros2_control_node[2026-06-10 22:26:37.871] [info] Canceling active goal... ×2 + 3.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781130397.88833189 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674602 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674602 ms (missed cycles : 2).[0m ×2 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 7879.357 us (Expected < 1666.667 us) --> Read time : 205.335 us, Update time : 6994.477 us, Write time : 679.545 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 7879.357 us (Expected < 1666.667 us) --> Read time : 205.335 us, Update time : 6994.477 us, Write time : 679.545 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781130398.51276565 seconds. ×3 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-06-10 22:26:38.697] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-06-10 22:26:38.697] [info] Accepted new action goal ×2 + 4.37sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.37sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.37sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.37sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388067 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388067 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 3086.010 us (Expected < 1666.667 us) --> Read time : 318.267 us, Update time : 1244.328 us, Write time : 1523.415 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 3086.010 us (Expected < 1666.667 us) --> Read time : 318.267 us, Update time : 1244.328 us, Write time : 1523.415 us[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945859 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945859 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2407.754 us (Expected < 1666.667 us) --> Read time : 114.223 us, Update time : 37.290 us, Write time : 2256.241 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2407.754 us (Expected < 1666.667 us) --> Read time : 114.223 us, Update time : 37.290 us, Write time : 2256.241 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368030 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368030 ms (missed cycles : 3).[0m ×2 + 6.55sINFOros2_control_node[2026-06-10 22:26:41.141] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-06-10 22:26:41.141] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 4704.666 us (Expected < 1666.667 us) --> Read time : 222.715 us, Update time : 3773.615 us, Write time : 708.336 us + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 4704.666 us (Expected < 1666.667 us) --> Read time : 222.715 us, Update time : 3773.615 us, Write time : 708.336 us[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148285 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148285 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.630022 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.630022 ms (missed cycles : 5).[0m ×2 + 8.73sWARNcontroller_managerOverrun might occur, Total time : 11591.541 us (Expected < 1666.667 us) --> Read time : 176.074 us, Update time : 10738.082 us, Write time : 677.385 us + 8.73sWARNros2_control_nodeOverrun might occur, Total time : 11591.541 us (Expected < 1666.667 us) --> Read time : 176.074 us, Update time : 10738.082 us, Write time : 677.385 us[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645679 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645679 ms (missed cycles : 3).[0m ×2 + 9.91sWARNcontroller_managerOverrun might occur, Total time : 4994.763 us (Expected < 1666.667 us) --> Read time : 207.825 us, Update time : 4265.806 us, Write time : 521.132 us + 9.91sWARNros2_control_nodeOverrun might occur, Total time : 4994.763 us (Expected < 1666.667 us) --> Read time : 207.825 us, Update time : 4265.806 us, Write time : 521.132 us[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753903 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753903 ms (missed cycles : 3).[0m ×2 + 11.31sWARNcontroller_managerOverrun might occur, Total time : 2082.847 us (Expected < 1666.667 us) --> Read time : 1501.014 us, Update time : 104.262 us, Write time : 477.571 us + 11.32sWARNros2_control_nodeOverrun might occur, Total time : 2082.847 us (Expected < 1666.667 us) --> Read time : 1501.014 us, Update time : 104.262 us, Write time : 477.571 us[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722366 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722366 ms (missed cycles : 3).[0m ×2 + 12.57sWARNcontroller_managerOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us + 12.57sWARNros2_control_nodeOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10).[0m ×2 + 13.70sWARNcontroller_managerOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us + 13.71sWARNros2_control_nodeOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3).[0m ×2 + 14.72sWARNcontroller_managerOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us[0m ×2 + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2).[0m ×2 + 15.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781130409.69300628 seconds ×3 + 15.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781130410.32748199 seconds. ×3 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4).[0m ×2 + 15.79sWARNcontroller_managerOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us + 15.79sWARNros2_control_nodeOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us[0m ×2 + 15.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.84sWARNcontroller_managerOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us + 15.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.84sWARNros2_control_nodeOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us[0m ×2 + 15.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781130410.42762065 seconds ×3 + 16.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781130410.99428463 seconds. ×3 + 16.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 16.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.53sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Received new action goal ×2 + 16.53sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Accepted new action goal ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4).[0m ×2 + 16.97sWARNcontroller_managerOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us + 16.97sWARNros2_control_nodeOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2).[0m ×2 + 18.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781130413.12443328 seconds ×3 + 18.57sWARNcontroller_managerOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us + 18.57sWARNros2_control_nodeOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us[0m ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	102 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1780.251 us (Expected < 1666.667 us) --> Read time : 181.914 us, Update time : 80.592 us, Write time : 1517.745 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1780.251 us (Expected < 1666.667 us) --> Read time : 181.914 us, Update time : 80.592 us, Write time : 1517.745 us[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792269 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792269 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.09sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.09sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.09sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.09sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697237 ms (missed cycles : 5). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697237 ms (missed cycles : 5).[0m ×2 + 1.36sWARNcontroller_managerOverrun might occur, Total time : 2430.025 us (Expected < 1666.667 us) --> Read time : 280.756 us, Update time : 1724.069 us, Write time : 425.200 us + 1.36sWARNros2_control_nodeOverrun might occur, Total time : 2430.025 us (Expected < 1666.667 us) --> Read time : 280.756 us, Update time : 1724.069 us, Write time : 425.200 us[0m ×2 + 2.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.07sINFOros2_control_node[2026-06-10 22:27:46.673] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-06-10 22:27:46.673] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975875 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975875 ms (missed cycles : 3).[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 2017.766 us (Expected < 1666.667 us) --> Read time : 237.835 us, Update time : 286.837 us, Write time : 1493.094 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 2017.766 us (Expected < 1666.667 us) --> Read time : 237.835 us, Update time : 286.837 us, Write time : 1493.094 us[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781130467.82944155 seconds ×3 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511523 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511523 ms (missed cycles : 2).[0m ×2 + 3.46sWARNcontroller_managerOverrun might occur, Total time : 9401.643 us (Expected < 1666.667 us) --> Read time : 134.443 us, Update time : 8700.888 us, Write time : 566.312 us + 3.46sWARNros2_control_nodeOverrun might occur, Total time : 9401.643 us (Expected < 1666.667 us) --> Read time : 134.443 us, Update time : 8700.888 us, Write time : 566.312 us[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781130468.56406903 seconds. ×3 + 4.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666511 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666511 ms (missed cycles : 3).[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 9451.404 us (Expected < 1666.667 us) --> Read time : 237.816 us, Update time : 8635.875 us, Write time : 577.713 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 9451.404 us (Expected < 1666.667 us) --> Read time : 237.816 us, Update time : 8635.875 us, Write time : 577.713 us[0m ×2 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.24sINFOros2_control_node[2026-06-10 22:27:49.850] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-06-10 22:27:49.850] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674201 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674201 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun might occur, Total time : 2264.392 us (Expected < 1666.667 us) --> Read time : 276.027 us, Update time : 953.961 us, Write time : 1034.404 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2264.392 us (Expected < 1666.667 us) --> Read time : 276.027 us, Update time : 953.961 us, Write time : 1034.404 us[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442041 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442041 ms (missed cycles : 4).[0m ×2 + 7.11sWARNcontroller_managerOverrun might occur, Total time : 4441.590 us (Expected < 1666.667 us) --> Read time : 200.385 us, Update time : 3671.782 us, Write time : 569.423 us + 7.11sWARNros2_control_nodeOverrun might occur, Total time : 4441.590 us (Expected < 1666.667 us) --> Read time : 200.385 us, Update time : 3671.782 us, Write time : 569.423 us[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959766 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959766 ms (missed cycles : 2).[0m ×2 + 8.16sWARNcontroller_managerOverrun might occur, Total time : 3970.000 us (Expected < 1666.667 us) --> Read time : 259.346 us, Update time : 78.602 us, Write time : 3632.052 us + 8.16sWARNros2_control_nodeOverrun might occur, Total time : 3970.000 us (Expected < 1666.667 us) --> Read time : 259.346 us, Update time : 78.602 us, Write time : 3632.052 us[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316328 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316328 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.94sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.94sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.94sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.94sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.28sWARNcontroller_managerOverrun might occur, Total time : 7660.393 us (Expected < 1666.667 us) --> Read time : 198.194 us, Update time : 102.633 us, Write time : 7359.566 us + 9.28sWARNros2_control_nodeOverrun might occur, Total time : 7660.393 us (Expected < 1666.667 us) --> Read time : 198.194 us, Update time : 102.633 us, Write time : 7359.566 us[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114092 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114092 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun might occur, Total time : 4763.914 us (Expected < 1666.667 us) --> Read time : 198.705 us, Update time : 113.762 us, Write time : 4451.447 us + 10.32sWARNros2_control_nodeOverrun might occur, Total time : 4763.914 us (Expected < 1666.667 us) --> Read time : 198.705 us, Update time : 113.762 us, Write time : 4451.447 us[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672583 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672583 ms (missed cycles : 2).[0m ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 11.31sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.33sINFOros2_control_node[2026-06-10 22:27:55.932] [info] Received new action goal ×2 + 11.33sINFOros2_control_node[2026-06-10 22:27:55.932] [info] Accepted new action goal ×2 + 11.41sWARNcontroller_managerOverrun might occur, Total time : 2129.771 us (Expected < 1666.667 us) --> Read time : 335.218 us, Update time : 1278.650 us, Write time : 515.903 us + 11.41sWARNros2_control_nodeOverrun might occur, Total time : 2129.771 us (Expected < 1666.667 us) --> Read time : 335.218 us, Update time : 1278.650 us, Write time : 515.903 us[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986504 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986504 ms (missed cycles : 3).[0m ×2 + 12.64sWARNcontroller_managerOverrun might occur, Total time : 1818.953 us (Expected < 1666.667 us) --> Read time : 849.600 us, Update time : 44.431 us, Write time : 924.922 us + 12.64sWARNros2_control_nodeOverrun might occur, Total time : 1818.953 us (Expected < 1666.667 us) --> Read time : 849.600 us, Update time : 44.431 us, Write time : 924.922 us[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857385 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857385 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580784 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580784 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun might occur, Total time : 5781.967 us (Expected < 1666.667 us) --> Read time : 306.587 us, Update time : 73.442 us, Write time : 5401.938 us + 13.83sWARNros2_control_nodeOverrun might occur, Total time : 5781.967 us (Expected < 1666.667 us) --> Read time : 306.587 us, Update time : 73.442 us, Write time : 5401.938 us[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135245 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135245 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781130479.54420972 seconds ×3 + 15.03sWARNcontroller_managerOverrun might occur, Total time : 2214.712 us (Expected < 1666.667 us) --> Read time : 168.684 us, Update time : 56.981 us, Write time : 1989.047 us + 15.03sWARNros2_control_nodeOverrun might occur, Total time : 2214.712 us (Expected < 1666.667 us) --> Read time : 168.684 us, Update time : 56.981 us, Write time : 1989.047 us[0m ×2 + 15.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781130480.16378951 seconds. ×3 + 15.68sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 15.68sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 15.71sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.71sINFOros2_control_node[2026-06-10 22:28:00.319] [info] Received new action goal ×2 + 15.71sINFOros2_control_node[2026-06-10 22:28:00.319] [info] Accepted new action goal ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385779 ms (missed cycles : 4). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385779 ms (missed cycles : 4).[0m ×2 + 16.38sWARNcontroller_managerOverrun might occur, Total time : 9141.907 us (Expected < 1666.667 us) --> Read time : 234.046 us, Update time : 86.742 us, Write time : 8821.119 us + 16.38sWARNros2_control_nodeOverrun might occur, Total time : 9141.907 us (Expected < 1666.667 us) --> Read time : 234.046 us, Update time : 86.742 us, Write time : 8821.119 us[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712097 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712097 ms (missed cycles : 3).[0m ×2 + 17.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.47sWARNcontroller_managerOverrun might occur, Total time : 7811.916 us (Expected < 1666.667 us) --> Read time : 213.575 us, Update time : 7006.147 us, Write time : 592.194 us + 17.47sWARNros2_control_nodeOverrun might occur, Total time : 7811.916 us (Expected < 1666.667 us) --> Read time : 213.575 us, Update time : 7006.147 us, Write time : 592.194 us[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539105 ms (missed cycles : 4). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539105 ms (missed cycles : 4).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	6 errors · 96 warnings · 197 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645162 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645162 ms (missed cycles : 2).[0m ×2 + 0.19sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.19sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 2070.447 us (Expected < 1666.667 us) --> Read time : 250.596 us, Update time : 1369.270 us, Write time : 450.581 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 2070.447 us (Expected < 1666.667 us) --> Read time : 250.596 us, Update time : 1369.270 us, Write time : 450.581 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759680 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759680 ms (missed cycles : 6).[0m ×2 + 1.71sWARNcontroller_managerOverrun might occur, Total time : 6099.937 us (Expected < 1666.667 us) --> Read time : 297.406 us, Update time : 5226.578 us, Write time : 575.953 us + 1.72sWARNros2_control_nodeOverrun might occur, Total time : 6099.937 us (Expected < 1666.667 us) --> Read time : 297.406 us, Update time : 5226.578 us, Write time : 575.953 us[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 1.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×6 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938016 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938016 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 2.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.20sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 2.20sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 2.21sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×8 + 2.21sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 2.22sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×4 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×4 + 2.32sINFOobjective_server_nodeFound path in 5 iterations (0.00377109 s). ×2 + 2.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.99% of iterations over budget over 1:10.009 of wall time (214/21618). Below 1% is expected on a non-realtime system.[0m ×2 + 2.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×4 + 2.39sINFOobjective_server_nodeFound path in 1 iterations (0.00240626 s). ×2 + 2.46sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×4 + 2.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 2.53sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 2.62sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 2.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.66sINFOros2_control_node[2026-06-10 22:26:26.185] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-06-10 22:26:26.185] [info] Accepted new action goal ×2 + 2.93sWARNcontroller_managerOverrun might occur, Total time : 2133.618 us (Expected < 1666.667 us) --> Read time : 152.314 us, Update time : 1575.465 us, Write time : 405.839 us + 2.93sWARNros2_control_nodeOverrun might occur, Total time : 2133.618 us (Expected < 1666.667 us) --> Read time : 152.314 us, Update time : 1575.465 us, Write time : 405.839 us[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393710 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393710 ms (missed cycles : 4).[0m ×2 + 3.24sINFOros2_control_node[2026-06-10 22:26:26.766] [info] Got request to cancel active goal. ×2 + 3.24sINFOros2_control_node[2026-06-10 22:26:26.766] [info] Canceling active goal... ×2 + 3.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1781130386.78658628 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781130387.40133357 seconds. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 3604.172 us (Expected < 1666.667 us) --> Read time : 218.845 us, Update time : 2912.616 us, Write time : 472.711 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 3604.172 us (Expected < 1666.667 us) --> Read time : 218.845 us, Update time : 2912.616 us, Write time : 472.711 us[0m ×2 + 4.09sINFOros2_control_node[2026-06-10 22:26:27.618] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-06-10 22:26:27.618] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113466 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113466 ms (missed cycles : 4).[0m ×2 + 4.26sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.26sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.26sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.26sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 5.15sWARNcontroller_managerOverrun might occur, Total time : 8519.532 us (Expected < 1666.667 us) --> Read time : 208.615 us, Update time : 38.611 us, Write time : 8272.306 us + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216477 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 8519.532 us (Expected < 1666.667 us) --> Read time : 208.615 us, Update time : 38.611 us, Write time : 8272.306 us[0m ×2 + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216477 ms (missed cycles : 6).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636028 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636028 ms (missed cycles : 6).[0m ×2 + 6.32sWARNcontroller_managerOverrun might occur, Total time : 2002.145 us (Expected < 1666.667 us) --> Read time : 518.862 us, Update time : 46.081 us, Write time : 1437.202 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 2002.145 us (Expected < 1666.667 us) --> Read time : 518.862 us, Update time : 46.081 us, Write time : 1437.202 us[0m ×2 + 6.79sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures" + 6.79sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures"[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400791 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400791 ms (missed cycles : 4).[0m ×2 + 7.29sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.29sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 7.73sWARNcontroller_managerOverrun might occur, Total time : 4053.751 us (Expected < 1666.667 us) --> Read time : 308.197 us, Update time : 3152.521 us, Write time : 593.033 us + 7.74sWARNros2_control_nodeOverrun might occur, Total time : 4053.751 us (Expected < 1666.667 us) --> Read time : 308.197 us, Update time : 3152.521 us, Write time : 593.033 us[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322302 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322302 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752048 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752048 ms (missed cycles : 3).[0m ×2 + 9.48sWARNcontroller_managerOverrun might occur, Total time : 3208.143 us (Expected < 1666.667 us) --> Read time : 181.234 us, Update time : 2541.998 us, Write time : 484.911 us + 9.48sWARNros2_control_nodeOverrun might occur, Total time : 3208.143 us (Expected < 1666.667 us) --> Read time : 181.234 us, Update time : 2541.998 us, Write time : 484.911 us[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282404 ms (missed cycles : 4). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282404 ms (missed cycles : 4).[0m ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.67sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 10.69sWARNcontroller_managerOverrun might occur, Total time : 2197.090 us (Expected < 1666.667 us) --> Read time : 256.316 us, Update time : 72.652 us, Write time : 1868.122 us + 10.70sWARNros2_control_nodeOverrun might occur, Total time : 2197.090 us (Expected < 1666.667 us) --> Read time : 256.316 us, Update time : 72.652 us, Write time : 1868.122 us[0m ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X____________________________X] ×2 + 10.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 10.75sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 10.81sINFOobjective_server_nodeFound path in 5 iterations (0.00410305 s). ×2 + 10.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 10.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m ×2 + 10.89sINFOobjective_server_nodeFound path in 1 iterations (0.00346684 s). ×2 + 11.11sINFOros2_control_node[2026-06-10 22:26:34.631] [info] Received new action goal ×2 + 11.11sINFOros2_control_node[2026-06-10 22:26:34.631] [info] Accepted new action goal ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047016 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047016 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun might occur, Total time : 1878.573 us (Expected < 1666.667 us) --> Read time : 158.734 us, Update time : 64.511 us, Write time : 1655.328 us + 11.92sWARNros2_control_nodeOverrun might occur, Total time : 1878.573 us (Expected < 1666.667 us) --> Read time : 158.734 us, Update time : 64.511 us, Write time : 1655.328 us[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995905 ms (missed cycles : 3). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995905 ms (missed cycles : 3).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077900 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077900 ms (missed cycles : 2).[0m ×2 + 13.49sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 13.49sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 13.49sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 13.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 13.57sINFOobjective_server_nodeFound path in 5 iterations (0.00610976 s). ×2 + 13.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 13.66sINFOros2_control_node[2026-06-10 22:26:37.185] [info] Received new action goal ×2 + 13.66sINFOros2_control_node[2026-06-10 22:26:37.185] [info] Accepted new action goal ×2 + 13.80sWARNcontroller_managerOverrun might occur, Total time : 1705.719 us (Expected < 1666.667 us) --> Read time : 165.064 us, Update time : 492.361 us, Write time : 1048.294 us + 13.80sWARNros2_control_nodeOverrun might occur, Total time : 1705.719 us (Expected < 1666.667 us) --> Read time : 165.064 us, Update time : 492.361 us, Write time : 1048.294 us[0m ×2 + 14.06sINFOros2_control_node[2026-06-10 22:26:37.587] [info] Received new action goal ×2 + 14.06sINFOros2_control_node[2026-06-10 22:26:37.587] [info] Accepted new action goal ×2 + 14.35sINFOros2_control_node[2026-06-10 22:26:37.871] [info] Got request to cancel active goal. ×2 + 14.35sINFOros2_control_node[2026-06-10 22:26:37.871] [info] Canceling active goal... ×2 + 14.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781130397.88833189 seconds ×3 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674602 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674602 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun might occur, Total time : 7879.357 us (Expected < 1666.667 us) --> Read time : 205.335 us, Update time : 6994.477 us, Write time : 679.545 us + 14.95sWARNros2_control_nodeOverrun might occur, Total time : 7879.357 us (Expected < 1666.667 us) --> Read time : 205.335 us, Update time : 6994.477 us, Write time : 679.545 us[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781130398.51276565 seconds. ×3 + 15.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.17sINFOros2_control_node[2026-06-10 22:26:38.697] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-06-10 22:26:38.697] [info] Accepted new action goal ×2 + 15.43sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 15.43sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.43sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.43sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388067 ms (missed cycles : 4). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388067 ms (missed cycles : 4).[0m ×2 + 16.22sWARNcontroller_managerOverrun might occur, Total time : 3086.010 us (Expected < 1666.667 us) --> Read time : 318.267 us, Update time : 1244.328 us, Write time : 1523.415 us + 16.22sWARNros2_control_nodeOverrun might occur, Total time : 3086.010 us (Expected < 1666.667 us) --> Read time : 318.267 us, Update time : 1244.328 us, Write time : 1523.415 us[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945859 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945859 ms (missed cycles : 2).[0m ×2 + 17.42sWARNcontroller_managerOverrun might occur, Total time : 2407.754 us (Expected < 1666.667 us) --> Read time : 114.223 us, Update time : 37.290 us, Write time : 2256.241 us + 17.42sWARNros2_control_nodeOverrun might occur, Total time : 2407.754 us (Expected < 1666.667 us) --> Read time : 114.223 us, Update time : 37.290 us, Write time : 2256.241 us[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368030 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368030 ms (missed cycles : 3).[0m ×2 + 17.62sINFOros2_control_node[2026-06-10 22:26:41.141] [info] Received new action goal ×2 + 17.62sINFOros2_control_node[2026-06-10 22:26:41.141] [info] Accepted new action goal ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	11.0s	6 errors · 99 warnings · 132 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116827 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116827 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun might occur, Total time : 2102.158 us (Expected < 1666.667 us) --> Read time : 235.536 us, Update time : 1392.071 us, Write time : 474.551 us + 7.93sWARNros2_control_nodeOverrun might occur, Total time : 2102.158 us (Expected < 1666.667 us) --> Read time : 235.536 us, Update time : 1392.071 us, Write time : 474.551 us[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822962 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822962 ms (missed cycles : 2).[0m ×2 + 8.93sWARNcontroller_managerOverrun might occur, Total time : 2398.274 us (Expected < 1666.667 us) --> Read time : 249.096 us, Update time : 1111.215 us, Write time : 1037.963 us + 8.93sWARNros2_control_nodeOverrun might occur, Total time : 2398.274 us (Expected < 1666.667 us) --> Read time : 249.096 us, Update time : 1111.215 us, Write time : 1037.963 us[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097751 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097751 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun might occur, Total time : 2489.687 us (Expected < 1666.667 us) --> Read time : 214.775 us, Update time : 810.119 us, Write time : 1464.793 us + 10.45sWARNros2_control_nodeOverrun might occur, Total time : 2489.687 us (Expected < 1666.667 us) --> Read time : 214.775 us, Update time : 810.119 us, Write time : 1464.793 us[0m ×2 + 10.72sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 10.72sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645162 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645162 ms (missed cycles : 2).[0m ×2 + 11.22sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 11.22sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 11.54sWARNcontroller_managerOverrun might occur, Total time : 2070.447 us (Expected < 1666.667 us) --> Read time : 250.596 us, Update time : 1369.270 us, Write time : 450.581 us + 11.54sWARNros2_control_nodeOverrun might occur, Total time : 2070.447 us (Expected < 1666.667 us) --> Read time : 250.596 us, Update time : 1369.270 us, Write time : 450.581 us[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759680 ms (missed cycles : 6). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759680 ms (missed cycles : 6).[0m ×2 + 12.74sWARNcontroller_managerOverrun might occur, Total time : 6099.937 us (Expected < 1666.667 us) --> Read time : 297.406 us, Update time : 5226.578 us, Write time : 575.953 us + 12.75sWARNros2_control_nodeOverrun might occur, Total time : 6099.937 us (Expected < 1666.667 us) --> Read time : 297.406 us, Update time : 5226.578 us, Write time : 575.953 us[0m ×2 + 12.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.94sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938016 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938016 ms (missed cycles : 2).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 13.24sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×6 + 13.24sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 13.25sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 13.35sINFOobjective_server_nodeFound path in 5 iterations (0.00377109 s). ×2 + 13.37sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.99% of iterations over budget over 1:10.009 of wall time (214/21618). Below 1% is expected on a non-realtime system.[0m ×2 + 13.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 13.42sINFOobjective_server_nodeFound path in 1 iterations (0.00240626 s). ×2 + 13.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 13.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 13.56sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 13.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 13.69sINFOros2_control_node[2026-06-10 22:26:26.185] [info] Received new action goal ×2 + 13.69sINFOros2_control_node[2026-06-10 22:26:26.185] [info] Accepted new action goal ×2 + 13.96sWARNcontroller_managerOverrun might occur, Total time : 2133.618 us (Expected < 1666.667 us) --> Read time : 152.314 us, Update time : 1575.465 us, Write time : 405.839 us + 13.96sWARNros2_control_nodeOverrun might occur, Total time : 2133.618 us (Expected < 1666.667 us) --> Read time : 152.314 us, Update time : 1575.465 us, Write time : 405.839 us[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393710 ms (missed cycles : 4). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393710 ms (missed cycles : 4).[0m ×2 + 14.27sINFOros2_control_node[2026-06-10 22:26:26.766] [info] Got request to cancel active goal. ×2 + 14.27sINFOros2_control_node[2026-06-10 22:26:26.766] [info] Canceling active goal... ×2 + 14.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1781130386.78658628 seconds ×3 + 14.90sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781130387.40133357 seconds. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 15.12sWARNcontroller_managerOverrun might occur, Total time : 3604.172 us (Expected < 1666.667 us) --> Read time : 218.845 us, Update time : 2912.616 us, Write time : 472.711 us + 15.12sWARNros2_control_nodeOverrun might occur, Total time : 3604.172 us (Expected < 1666.667 us) --> Read time : 218.845 us, Update time : 2912.616 us, Write time : 472.711 us[0m ×2 + 15.12sINFOros2_control_node[2026-06-10 22:26:27.618] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-06-10 22:26:27.618] [info] Accepted new action goal ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113466 ms (missed cycles : 4). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113466 ms (missed cycles : 4).[0m ×2 + 15.29sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 15.29sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.29sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.29sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 16.18sWARNcontroller_managerOverrun might occur, Total time : 8519.532 us (Expected < 1666.667 us) --> Read time : 208.615 us, Update time : 38.611 us, Write time : 8272.306 us + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216477 ms (missed cycles : 6). + 16.18sWARNros2_control_nodeOverrun might occur, Total time : 8519.532 us (Expected < 1666.667 us) --> Read time : 208.615 us, Update time : 38.611 us, Write time : 8272.306 us[0m ×2 + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216477 ms (missed cycles : 6).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636028 ms (missed cycles : 6). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636028 ms (missed cycles : 6).[0m ×2 + 17.35sWARNcontroller_managerOverrun might occur, Total time : 2002.145 us (Expected < 1666.667 us) --> Read time : 518.862 us, Update time : 46.081 us, Write time : 1437.202 us + 17.36sWARNros2_control_nodeOverrun might occur, Total time : 2002.145 us (Expected < 1666.667 us) --> Read time : 518.862 us, Update time : 46.081 us, Write time : 1437.202 us[0m ×2 + 17.82sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures" + 17.82sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures"[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 105 warnings · 97 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4893.091 us (Expected < 1666.667 us) --> Read time : 172.864 us, Update time : 51.451 us, Write time : 4668.776 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318101 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4893.091 us (Expected < 1666.667 us) --> Read time : 172.864 us, Update time : 51.451 us, Write time : 4668.776 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318101 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504041 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504041 ms (missed cycles : 6).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 4263.877 us (Expected < 1666.667 us) --> Read time : 203.475 us, Update time : 3580.371 us, Write time : 480.031 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 4263.877 us (Expected < 1666.667 us) --> Read time : 203.475 us, Update time : 3580.371 us, Write time : 480.031 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161706 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161706 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 2737.713 us (Expected < 1666.667 us) --> Read time : 281.427 us, Update time : 1968.564 us, Write time : 487.722 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 2737.713 us (Expected < 1666.667 us) --> Read time : 281.427 us, Update time : 1968.564 us, Write time : 487.722 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313602 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313602 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781130621.80435562 seconds ×3 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 4503.122 us (Expected < 1666.667 us) --> Read time : 212.265 us, Update time : 3711.514 us, Write time : 579.343 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 4503.122 us (Expected < 1666.667 us) --> Read time : 212.265 us, Update time : 3711.514 us, Write time : 579.343 us[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781130622.42980266 seconds. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815816 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815816 ms (missed cycles : 3).[0m ×2 + 4.09sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution" + 4.09sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution"[0m ×2 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-06-10 22:30:22.575] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 22:30:22.575] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun might occur, Total time : 3233.123 us (Expected < 1666.667 us) --> Read time : 199.504 us, Update time : 2548.728 us, Write time : 484.891 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 3233.123 us (Expected < 1666.667 us) --> Read time : 199.504 us, Update time : 2548.728 us, Write time : 484.891 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037506 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037506 ms (missed cycles : 5).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 2322.833 us (Expected < 1666.667 us) --> Read time : 844.519 us, Update time : 509.292 us, Write time : 969.022 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 2322.833 us (Expected < 1666.667 us) --> Read time : 844.519 us, Update time : 509.292 us, Write time : 969.022 us[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149713 ms (missed cycles : 5). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149713 ms (missed cycles : 5).[0m ×2 + 7.14sWARNcontroller_managerOverrun might occur, Total time : 2269.582 us (Expected < 1666.667 us) --> Read time : 307.937 us, Update time : 66.862 us, Write time : 1894.783 us + 7.15sWARNros2_control_nodeOverrun might occur, Total time : 2269.582 us (Expected < 1666.667 us) --> Read time : 307.937 us, Update time : 66.862 us, Write time : 1894.783 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.132432 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.132432 ms (missed cycles : 5).[0m ×2 + 7.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.47% of iterations over budget over 5:10.020 of wall time (1397/95210). Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134307 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134307 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun might occur, Total time : 2437.676 us (Expected < 1666.667 us) --> Read time : 294.177 us, Update time : 51.011 us, Write time : 2092.488 us + 8.29sWARNros2_control_nodeOverrun might occur, Total time : 2437.676 us (Expected < 1666.667 us) --> Read time : 294.177 us, Update time : 51.011 us, Write time : 2092.488 us[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260501 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260501 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun might occur, Total time : 4743.587 us (Expected < 1666.667 us) --> Read time : 260.075 us, Update time : 3999.561 us, Write time : 483.951 us + 9.62sWARNros2_control_nodeOverrun might occur, Total time : 4743.587 us (Expected < 1666.667 us) --> Read time : 260.075 us, Update time : 3999.561 us, Write time : 483.951 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542141 ms (missed cycles : 4). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542141 ms (missed cycles : 4).[0m ×2 + 10.79sWARNcontroller_managerOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us + 10.79sWARNros2_control_nodeOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2).[0m ×2 + 11.84sWARNcontroller_managerOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us + 11.84sWARNros2_control_nodeOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 13.40sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 13.40sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 14.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 14.48sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 14.48sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 14.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 15.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.07sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 15.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.07sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 15.20sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.20sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 15.60sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 15.60sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 15.67sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 16.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 16.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 16.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.49sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 16.49sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 16.65sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 16.66sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 17.67sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 17.67sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	6 errors · 102 warnings · 66 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.727545 ms (missed cycles : 9). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.727545 ms (missed cycles : 9).[0m ×2 + 7.80sWARNcontroller_managerOverrun might occur, Total time : 1970.515 us (Expected < 1666.667 us) --> Read time : 197.445 us, Update time : 1380.959 us, Write time : 392.111 us + 7.80sWARNros2_control_nodeOverrun might occur, Total time : 1970.515 us (Expected < 1666.667 us) --> Read time : 197.445 us, Update time : 1380.959 us, Write time : 392.111 us[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524911 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524911 ms (missed cycles : 3).[0m ×2 + 9.10sWARNcontroller_managerOverrun might occur, Total time : 6198.263 us (Expected < 1666.667 us) --> Read time : 257.797 us, Update time : 5367.420 us, Write time : 573.046 us + 9.11sWARNros2_control_nodeOverrun might occur, Total time : 6198.263 us (Expected < 1666.667 us) --> Read time : 257.797 us, Update time : 5367.420 us, Write time : 573.046 us[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657328 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657328 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837298 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837298 ms (missed cycles : 3).[0m ×2 + 10.27sWARNcontroller_managerOverrun might occur, Total time : 4295.370 us (Expected < 1666.667 us) --> Read time : 194.945 us, Update time : 3563.390 us, Write time : 537.035 us + 10.27sWARNros2_control_nodeOverrun might occur, Total time : 4295.370 us (Expected < 1666.667 us) --> Read time : 194.945 us, Update time : 3563.390 us, Write time : 537.035 us[0m ×2 + 11.27sWARNcontroller_managerOverrun might occur, Total time : 1903.604 us (Expected < 1666.667 us) --> Read time : 736.081 us, Update time : 61.342 us, Write time : 1106.181 us + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158278 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun might occur, Total time : 1903.604 us (Expected < 1666.667 us) --> Read time : 736.081 us, Update time : 61.342 us, Write time : 1106.181 us[0m ×2 + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158278 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445230 ms (missed cycles : 4). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445230 ms (missed cycles : 4).[0m ×2 + 12.81sWARNcontroller_managerOverrun might occur, Total time : 4461.955 us (Expected < 1666.667 us) --> Read time : 483.034 us, Update time : 3448.736 us, Write time : 530.185 us + 12.82sWARNros2_control_nodeOverrun might occur, Total time : 4461.955 us (Expected < 1666.667 us) --> Read time : 483.034 us, Update time : 3448.736 us, Write time : 530.185 us[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.553157 ms (missed cycles : 7). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.553157 ms (missed cycles : 7).[0m ×2 + 13.93sWARNcontroller_managerOverrun might occur, Total time : 6142.252 us (Expected < 1666.667 us) --> Read time : 141.854 us, Update time : 5427.382 us, Write time : 573.016 us + 13.94sWARNros2_control_nodeOverrun might occur, Total time : 6142.252 us (Expected < 1666.667 us) --> Read time : 141.854 us, Update time : 5427.382 us, Write time : 573.016 us[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111429 ms (missed cycles : 5). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111429 ms (missed cycles : 5).[0m ×2 + 14.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781130611.36209750 seconds ×3 + 15.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781130611.94242620 seconds. ×3 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212180 ms (missed cycles : 4). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212180 ms (missed cycles : 4).[0m ×2 + 15.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 15.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.50sINFOros2_control_node[2026-06-10 22:30:12.211] [info] Received new action goal ×2 + 15.50sINFOros2_control_node[2026-06-10 22:30:12.211] [info] Accepted new action goal ×2 + 15.64sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.64sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.69sWARNcontroller_managerOverrun might occur, Total time : 5901.106 us (Expected < 1666.667 us) --> Read time : 340.400 us, Update time : 4877.557 us, Write time : 683.149 us + 15.70sWARNros2_control_nodeOverrun might occur, Total time : 5901.106 us (Expected < 1666.667 us) --> Read time : 340.400 us, Update time : 4877.557 us, Write time : 683.149 us[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828963 ms (missed cycles : 6). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828963 ms (missed cycles : 6).[0m ×2 + 16.82sWARNcontroller_managerOverrun might occur, Total time : 1816.731 us (Expected < 1666.667 us) --> Read time : 274.358 us, Update time : 76.352 us, Write time : 1466.021 us + 16.82sWARNros2_control_nodeOverrun might occur, Total time : 1816.731 us (Expected < 1666.667 us) --> Read time : 274.358 us, Update time : 76.352 us, Write time : 1466.021 us[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408645 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408645 ms (missed cycles : 2).[0m ×2 + 17.91sWARNcontroller_managerOverrun might occur, Total time : 2977.143 us (Expected < 1666.667 us) --> Read time : 216.826 us, Update time : 2179.191 us, Write time : 581.126 us + 17.91sWARNros2_control_nodeOverrun might occur, Total time : 2977.143 us (Expected < 1666.667 us) --> Read time : 216.826 us, Update time : 2179.191 us, Write time : 581.126 us[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.8s	3 errors · 99 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781130589.47284341 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781130590.25469017 seconds. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4).[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.16sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.16sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.17sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 4.42sWARNcontroller_managerOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun might occur, Total time : 4527.764 us (Expected < 1666.667 us) --> Read time : 190.254 us, Update time : 3706.865 us, Write time : 630.645 us + 6.89sWARNros2_control_nodeOverrun might occur, Total time : 4527.764 us (Expected < 1666.667 us) --> Read time : 190.254 us, Update time : 3706.865 us, Write time : 630.645 us[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100961 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100961 ms (missed cycles : 4).[0m ×2 + 7.19sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/pcd_pointcloud_captures" + 7.19sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/pcd_pointcloud_captures"[0m ×2 + 7.70sINFOfoxglove_bridgeRemoving channel 85 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.70sINFOfoxglove_bridgeRemoving channel 85 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 8.02sWARNcontroller_managerOverrun might occur, Total time : 3788.177 us (Expected < 1666.667 us) --> Read time : 189.094 us, Update time : 3108.221 us, Write time : 490.862 us + 8.03sWARNros2_control_nodeOverrun might occur, Total time : 3788.177 us (Expected < 1666.667 us) --> Read time : 189.094 us, Update time : 3108.221 us, Write time : 490.862 us[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498856 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498856 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329936 ms (missed cycles : 4). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329936 ms (missed cycles : 4).[0m ×2 + 9.26sWARNcontroller_managerOverrun might occur, Total time : 1888.584 us (Expected < 1666.667 us) --> Read time : 302.517 us, Update time : 110.223 us, Write time : 1475.844 us + 9.26sWARNros2_control_nodeOverrun might occur, Total time : 1888.584 us (Expected < 1666.667 us) --> Read time : 302.517 us, Update time : 110.223 us, Write time : 1475.844 us[0m ×2 + 9.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.71sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/solution" + 9.72sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/solution"[0m ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.73sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×6 + 9.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.81sINFOobjective_server_nodeFound path in 5 iterations (0.0046116 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 9.86sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.89sINFOros2_control_node[2026-06-10 22:29:56.340] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-06-10 22:29:56.343] [info] Accepted new action goal ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 10.27sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 10.27sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 11.34sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 11.34sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 12.12sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 12.12sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 12.53sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 12.53sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 13.56sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 13.57sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 13.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.78sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 13.78sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 13.91sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 13.91sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 13.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 14.56sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 14.56sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 14.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 14.77sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 14.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.78sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.78sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 15.69sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 15.69sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 16.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.79sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 16.79sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.7s	6 errors · 102 warnings · 136 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 2.81sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.81sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 3.20sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 3.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.09sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014055 ms (missed cycles : 6). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014055 ms (missed cycles : 6).[0m ×2 + 7.39sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.39sINFOros2_control_node[2026-06-10 22:30:38.141] [info] Received new action goal ×2 + 7.39sINFOros2_control_node[2026-06-10 22:30:38.141] [info] Accepted new action goal ×2 + 7.39sINFOros2_control_node[2026-06-10 22:30:38.141] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.57sWARNcontroller_managerOverrun might occur, Total time : 1683.318 us (Expected < 1666.667 us) --> Read time : 206.794 us, Update time : 418.920 us, Write time : 1057.604 us + 7.57sWARNros2_control_nodeOverrun might occur, Total time : 1683.318 us (Expected < 1666.667 us) --> Read time : 206.794 us, Update time : 418.920 us, Write time : 1057.604 us[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121390 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121390 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun might occur, Total time : 3824.236 us (Expected < 1666.667 us) --> Read time : 208.974 us, Update time : 3135.222 us, Write time : 480.040 us + 8.64sWARNros2_control_nodeOverrun might occur, Total time : 3824.236 us (Expected < 1666.667 us) --> Read time : 208.974 us, Update time : 3135.222 us, Write time : 480.040 us[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736308 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736308 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun might occur, Total time : 1695.728 us (Expected < 1666.667 us) --> Read time : 760.697 us, Update time : 426.220 us, Write time : 508.811 us + 9.85sWARNros2_control_nodeOverrun might occur, Total time : 1695.728 us (Expected < 1666.667 us) --> Read time : 760.697 us, Update time : 426.220 us, Write time : 508.811 us[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2).[0m ×2 + 11.08sWARNcontroller_managerOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us + 11.09sWARNros2_control_nodeOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7).[0m ×2 + 12.14sWARNcontroller_managerOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us + 12.14sWARNros2_control_nodeOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4).[0m ×2 + 13.36sWARNcontroller_managerOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us + 13.37sWARNros2_control_nodeOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3).[0m ×2 + 14.12sINFOros2_control_node[2026-06-10 22:30:44.867] [info] Got request to cancel active goal. ×2 + 14.12sINFOros2_control_node[2026-06-10 22:30:44.869] [info] Canceling active goal... ×2 + 14.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781130644.87212181 seconds ×3 + 14.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781130645.44530869 seconds. ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2).[0m ×2 + 14.74sWARNcontroller_managerOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us + 14.74sWARNros2_control_nodeOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us[0m ×2 + 14.93sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 14.93sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2).[0m ×2 + 15.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781130646.55551720 seconds ×3 + 15.98sWARNcontroller_managerOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us + 15.98sWARNros2_control_nodeOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us[0m ×2 + 16.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781130647.12865782 seconds. ×3 + 16.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781130647.13036942 seconds ×3 + 16.46sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 16.46sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 16.46sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 16.46sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3).[0m ×2 + 16.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781130647.68758059 seconds. ×3 + 16.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781130647.68820715 seconds ×3 + 16.96sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 16.96sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 17.24sWARNcontroller_managerOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us + 17.25sWARNros2_control_nodeOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.7s	3 errors · 97 warnings · 111 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us[0m ×2 + 1.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781130364.44359660 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781130365.03731751 seconds. ×3 + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781130365.11749005 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781130365.74228358 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3).[0m ×2 + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4).[0m ×2 + 7.24sWARNcontroller_managerOverrun might occur, Total time : 12787.151 us (Expected < 1666.667 us) --> Read time : 292.276 us, Update time : 11867.701 us, Write time : 627.174 us + 7.24sWARNros2_control_nodeOverrun might occur, Total time : 12787.151 us (Expected < 1666.667 us) --> Read time : 292.276 us, Update time : 11867.701 us, Write time : 627.174 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277539 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277539 ms (missed cycles : 4).[0m ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.43sINFOros2_control_node[2026-06-10 22:26:09.207] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-06-10 22:26:09.207] [info] Accepted new action goal ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716200 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716200 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun might occur, Total time : 2330.789 us (Expected < 1666.667 us) --> Read time : 258.586 us, Update time : 1571.503 us, Write time : 500.700 us + 8.44sWARNros2_control_nodeOverrun might occur, Total time : 2330.789 us (Expected < 1666.667 us) --> Read time : 258.586 us, Update time : 1571.503 us, Write time : 500.700 us[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115527 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115527 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun might occur, Total time : 2101.975 us (Expected < 1666.667 us) --> Read time : 177.564 us, Update time : 1458.071 us, Write time : 466.340 us + 9.69sWARNros2_control_nodeOverrun might occur, Total time : 2101.975 us (Expected < 1666.667 us) --> Read time : 177.564 us, Update time : 1458.071 us, Write time : 466.340 us[0m ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 9.79sINFOros2_control_node[2026-06-10 22:26:11.564] [info] Received new action goal ×2 + 9.79sINFOros2_control_node[2026-06-10 22:26:11.564] [info] Accepted new action goal ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645005 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645005 ms (missed cycles : 3).[0m ×2 + 10.72sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 10.73sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 11.90sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 12.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 12.16sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 12.16sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 13.09sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 13.09sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 13.99sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 14.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 14.29sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 14.29sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 14.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 14.88sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 14.88sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.88sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 14.88sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 15.29sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 15.30sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 15.74sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 15.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.75sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 15.75sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 16.45sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 16.45sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 17.45sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 17.46sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.7s	3 errors · 99 warnings · 181 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 2.66sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 2.66sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 4.91sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2 + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.29sINFOros2_control_node[2026-06-10 22:25:27.520] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-06-10 22:25:27.520] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352972 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352972 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960130 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960130 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun might occur, Total time : 5335.871 us (Expected < 1666.667 us) --> Read time : 321.777 us, Update time : 86.152 us, Write time : 4927.942 us + 7.51sWARNros2_control_nodeOverrun might occur, Total time : 5335.871 us (Expected < 1666.667 us) --> Read time : 321.777 us, Update time : 86.152 us, Write time : 4927.942 us[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977936 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977936 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun might occur, Total time : 2053.426 us (Expected < 1666.667 us) --> Read time : 853.859 us, Update time : 97.812 us, Write time : 1101.755 us + 8.54sWARNros2_control_nodeOverrun might occur, Total time : 2053.426 us (Expected < 1666.667 us) --> Read time : 853.859 us, Update time : 97.812 us, Write time : 1101.755 us[0m ×2 + 9.55sWARNcontroller_managerOverrun might occur, Total time : 4314.297 us (Expected < 1666.667 us) --> Read time : 189.925 us, Update time : 3626.261 us, Write time : 498.111 us + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532625 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun might occur, Total time : 4314.297 us (Expected < 1666.667 us) --> Read time : 189.925 us, Update time : 3626.261 us, Write time : 498.111 us[0m ×2 + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532625 ms (missed cycles : 3).[0m ×2 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 10.04sINFOros2_control_node[2026-06-10 22:25:31.264] [info] Received new action goal ×2 + 10.04sINFOros2_control_node[2026-06-10 22:25:31.264] [info] Accepted new action goal ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3).[0m ×2 + 10.77sWARNcontroller_managerOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us + 10.77sWARNros2_control_nodeOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 11.94sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 11.94sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 13.14sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.37sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 13.64sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 13.64sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 13.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 14.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 14.22sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 14.22sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 15.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 15.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 15.63sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 15.63sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 16.19sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 16.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.20sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 16.20sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 16.70sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 16.70sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.5s	49 errors · 60 warnings · 262 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-10 22:30:44.867] [info] Got request to cancel active goal. ×2 + 0.76sINFOros2_control_node[2026-06-10 22:30:44.869] [info] Canceling active goal... ×2 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781130644.87212181 seconds ×3 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781130645.44530869 seconds. ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us[0m ×2 + 1.58sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 1.58sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781130646.55551720 seconds ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781130647.12865782 seconds. ×3 + 3.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.02sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781130647.13036942 seconds ×3 + 3.10sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.10sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 3.10sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.10sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781130647.68758059 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781130647.68820715 seconds ×3 + 3.61sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 3.61sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781130648.39684391 seconds. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781130648.98696375 seconds ×3 + 4.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 1965.005 us (Expected < 1666.667 us) --> Read time : 200.145 us, Update time : 1341.631 us, Write time : 423.229 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 1965.005 us (Expected < 1666.667 us) --> Read time : 200.145 us, Update time : 1341.631 us, Write time : 423.229 us[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860758 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860758 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun might occur, Total time : 6139.920 us (Expected < 1666.667 us) --> Read time : 155.424 us, Update time : 5363.582 us, Write time : 620.914 us + 7.41sWARNros2_control_nodeOverrun might occur, Total time : 6139.920 us (Expected < 1666.667 us) --> Read time : 155.424 us, Update time : 5363.582 us, Write time : 620.914 us[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958447 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958447 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122077 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122077 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun might occur, Total time : 7871.970 us (Expected < 1666.667 us) --> Read time : 184.745 us, Update time : 7107.931 us, Write time : 579.294 us + 8.63sWARNros2_control_nodeOverrun might occur, Total time : 7871.970 us (Expected < 1666.667 us) --> Read time : 184.745 us, Update time : 7107.931 us, Write time : 579.294 us[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011911 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011911 ms (missed cycles : 5).[0m ×2 + 10.05sWARNcontroller_managerOverrun might occur, Total time : 1878.143 us (Expected < 1666.667 us) --> Read time : 171.274 us, Update time : 1339.230 us, Write time : 367.639 us + 10.05sWARNros2_control_nodeOverrun might occur, Total time : 1878.143 us (Expected < 1666.667 us) --> Read time : 171.274 us, Update time : 1339.230 us, Write time : 367.639 us[0m ×2 + 10.38sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 10.40sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 10.41sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 10.44sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 10.44sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 10.45sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.46sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.48sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.49sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.50sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.51sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.52sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.52sINFOcontroller_managerShutdown request received.... + 10.52sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 10.52sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.52sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.52sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.52sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.52sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.52sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.52sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.52sINFOui_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 + 10.52sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.52sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.52sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.52sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.52sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.53sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.53sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.53sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.53sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.53sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.53sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.53sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.53sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.53sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.53sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.53sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.53sINFOcontroller_managerShutting down the controller manager. + 10.53sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.53sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.53sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.53sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.57sINFOobjective_server_node[0;m[2026-06-10 22:30:54.674] [moveit_pro_license] [info] ×2 + 10.57sINFOobjective_server_node************************************************* ×4 + 10.57sINFOobjective_server_node* MoveIt Pro License ×2 + 10.57sINFOobjective_server_node* Application has successfully terminated ×2 + 10.65sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9857] ×2 + 10.65sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 10.65sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.65sINFOweb_video_server-20process has finished cleanly [pid 9978] ×2 + 10.66sINFOfoxglove_bridgeShutdown complete[0m ×2 + 10.69sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.69sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9851] ×2 + 10.70sERRORui_teleop_bridge-17process has died [pid 9855, 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_uz78g74j']. ×2 + 10.70sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9850] ×2 + 10.70sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.70sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5562c1e946a4, in _start ×2 + 10.71sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fae53928a, in __libc_start_main ×2 + 10.71sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fae5391d0, in ×2 + 10.71sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fae556bbd, in exit ×2 + 10.71sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fae556a75, in ×2 + 10.71sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6faea284a2, in spdlog::details::registry::~registry() ×2 + 10.71sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6faea3369d, 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 + 10.71sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6faea2d965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.71sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5562c1e9b315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.71sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5562c1e9a5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.71sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5562c1e96b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.71sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5562c1e94d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.71sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6faf0ab454, in rclcpp::Node::~Node() ×2 + 10.71sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6faf066515, in ×2 + 10.71sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6faf0a9d20, in ×2 + 10.71sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6faf0a9c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.71sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6faf0665d9, in ×2 + 10.71sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6faf06b161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.71sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f6f5e480a88]) ×2 + 10.72sINFOwaypoint_manager_node-11process has finished cleanly [pid 9849] ×2 + 10.74sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.74sINFOros2_control_nodepublish_async_failures_ 5[0m ×4 + 10.77sINFOexecute_objective_bridge-16process has finished cleanly [pid 9854] ×2 + 11.40sERRORobjective_server_node_main-14process has died [pid 9852, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_2_xb8m1z --params-file /tmp/launch_params_jy0x3txr --params-file /tmp/launch_params_jl4k3_2y --params-file /tmp/launch_params_zfsy_ltz --params-file /tmp/launch_params_d5cabu4f --params-file /tmp/launch_params_gzg8awti']. ×2 + 11.40sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.57sINFOparameter_manager_node-10process has finished cleanly [pid 9848] ×2 + 11.68sINFOcomponent_container_mt-15process has finished cleanly [pid 9853] ×2 + 11.70sINFOmove_group-9process has finished cleanly [pid 9847] ×2 + 12.38sINFOros2_control_node-1process has finished cleanly [pid 9821] ×2 + 12.67sINFOfoxglove_bridge-18process has finished cleanly [pid 9856] ×2 + 12.67sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	3 errors · 93 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1903.604 us (Expected < 1666.667 us) --> Read time : 736.081 us, Update time : 61.342 us, Write time : 1106.181 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158278 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1903.604 us (Expected < 1666.667 us) --> Read time : 736.081 us, Update time : 61.342 us, Write time : 1106.181 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158278 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445230 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445230 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4461.955 us (Expected < 1666.667 us) --> Read time : 483.034 us, Update time : 3448.736 us, Write time : 530.185 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 4461.955 us (Expected < 1666.667 us) --> Read time : 483.034 us, Update time : 3448.736 us, Write time : 530.185 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.553157 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.553157 ms (missed cycles : 7).[0m ×2 + 2.66sWARNcontroller_managerOverrun might occur, Total time : 6142.252 us (Expected < 1666.667 us) --> Read time : 141.854 us, Update time : 5427.382 us, Write time : 573.016 us + 2.67sWARNros2_control_nodeOverrun might occur, Total time : 6142.252 us (Expected < 1666.667 us) --> Read time : 141.854 us, Update time : 5427.382 us, Write time : 573.016 us[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111429 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111429 ms (missed cycles : 5).[0m ×2 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781130611.36209750 seconds ×3 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781130611.94242620 seconds. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212180 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212180 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.23sINFOros2_control_node[2026-06-10 22:30:12.211] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-10 22:30:12.211] [info] Accepted new action goal ×2 + 4.37sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.37sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.42sWARNcontroller_managerOverrun might occur, Total time : 5901.106 us (Expected < 1666.667 us) --> Read time : 340.400 us, Update time : 4877.557 us, Write time : 683.149 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 5901.106 us (Expected < 1666.667 us) --> Read time : 340.400 us, Update time : 4877.557 us, Write time : 683.149 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828963 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828963 ms (missed cycles : 6).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 1816.731 us (Expected < 1666.667 us) --> Read time : 274.358 us, Update time : 76.352 us, Write time : 1466.021 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 1816.731 us (Expected < 1666.667 us) --> Read time : 274.358 us, Update time : 76.352 us, Write time : 1466.021 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408645 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408645 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun might occur, Total time : 2977.143 us (Expected < 1666.667 us) --> Read time : 216.826 us, Update time : 2179.191 us, Write time : 581.126 us + 6.64sWARNros2_control_nodeOverrun might occur, Total time : 2977.143 us (Expected < 1666.667 us) --> Read time : 216.826 us, Update time : 2179.191 us, Write time : 581.126 us[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun might occur, Total time : 2331.486 us (Expected < 1666.667 us) --> Read time : 268.218 us, Update time : 887.455 us, Write time : 1175.813 us + 7.83sWARNros2_control_nodeOverrun might occur, Total time : 2331.486 us (Expected < 1666.667 us) --> Read time : 268.218 us, Update time : 887.455 us, Write time : 1175.813 us[0m ×2 + 8.23sINFOros2_control_node[2026-06-10 22:30:16.219] [info] Received new action goal ×2 + 8.23sINFOros2_control_node[2026-06-10 22:30:16.219] [info] Accepted new action goal ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921332 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921332 ms (missed cycles : 2).[0m ×2 + 9.20sWARNcontroller_managerOverrun might occur, Total time : 2637.424 us (Expected < 1666.667 us) --> Read time : 1864.952 us, Update time : 146.324 us, Write time : 626.148 us + 9.20sWARNros2_control_nodeOverrun might occur, Total time : 2637.424 us (Expected < 1666.667 us) --> Read time : 1864.952 us, Update time : 146.324 us, Write time : 626.148 us[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375815 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375815 ms (missed cycles : 2).[0m ×2 + 10.37sWARNcontroller_managerOverrun might occur, Total time : 4893.091 us (Expected < 1666.667 us) --> Read time : 172.864 us, Update time : 51.451 us, Write time : 4668.776 us + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318101 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun might occur, Total time : 4893.091 us (Expected < 1666.667 us) --> Read time : 172.864 us, Update time : 51.451 us, Write time : 4668.776 us[0m ×2 + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318101 ms (missed cycles : 4).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504041 ms (missed cycles : 6). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504041 ms (missed cycles : 6).[0m ×2 + 11.55sWARNcontroller_managerOverrun might occur, Total time : 4263.877 us (Expected < 1666.667 us) --> Read time : 203.475 us, Update time : 3580.371 us, Write time : 480.031 us + 11.55sWARNros2_control_nodeOverrun might occur, Total time : 4263.877 us (Expected < 1666.667 us) --> Read time : 203.475 us, Update time : 3580.371 us, Write time : 480.031 us[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161706 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161706 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun might occur, Total time : 2737.713 us (Expected < 1666.667 us) --> Read time : 281.427 us, Update time : 1968.564 us, Write time : 487.722 us + 12.82sWARNros2_control_nodeOverrun might occur, Total time : 2737.713 us (Expected < 1666.667 us) --> Read time : 281.427 us, Update time : 1968.564 us, Write time : 487.722 us[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313602 ms (missed cycles : 4). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313602 ms (missed cycles : 4).[0m ×2 + 13.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781130621.80435562 seconds ×3 + 13.85sWARNcontroller_managerOverrun might occur, Total time : 4503.122 us (Expected < 1666.667 us) --> Read time : 212.265 us, Update time : 3711.514 us, Write time : 579.343 us + 13.86sWARNros2_control_nodeOverrun might occur, Total time : 4503.122 us (Expected < 1666.667 us) --> Read time : 212.265 us, Update time : 3711.514 us, Write time : 579.343 us[0m ×2 + 14.44sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781130622.42980266 seconds. ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815816 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815816 ms (missed cycles : 3).[0m ×2 + 14.46sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution" + 14.46sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution"[0m ×2 + 14.58sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 14.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.59sINFOros2_control_node[2026-06-10 22:30:22.575] [info] Received new action goal ×2 + 14.59sINFOros2_control_node[2026-06-10 22:30:22.575] [info] Accepted new action goal ×2 + 15.01sWARNcontroller_managerOverrun might occur, Total time : 3233.123 us (Expected < 1666.667 us) --> Read time : 199.504 us, Update time : 2548.728 us, Write time : 484.891 us + 15.01sWARNros2_control_nodeOverrun might occur, Total time : 3233.123 us (Expected < 1666.667 us) --> Read time : 199.504 us, Update time : 2548.728 us, Write time : 484.891 us[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037506 ms (missed cycles : 5). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037506 ms (missed cycles : 5).[0m ×2 + 16.32sWARNcontroller_managerOverrun might occur, Total time : 2322.833 us (Expected < 1666.667 us) --> Read time : 844.519 us, Update time : 509.292 us, Write time : 969.022 us + 16.32sWARNros2_control_nodeOverrun might occur, Total time : 2322.833 us (Expected < 1666.667 us) --> Read time : 844.519 us, Update time : 509.292 us, Write time : 969.022 us[0m ×2 + 16.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149713 ms (missed cycles : 5). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149713 ms (missed cycles : 5).[0m ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	8.5s	84 warnings · 145 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781130410.32748199 seconds. ×3 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4).[0m ×2 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us + 0.61sWARNros2_control_nodeOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us[0m ×2 + 0.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sWARNcontroller_managerOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us + 0.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sWARNros2_control_nodeOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781130410.42762065 seconds ×3 + 1.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781130410.99428463 seconds. ×3 + 1.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.34sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781130413.12443328 seconds ×3 + 3.38sWARNcontroller_managerOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us + 3.39sWARNros2_control_nodeOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781130413.70135808 seconds. ×3 + 4.05sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Accepted new action goal ×2 + 4.31sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.31sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us[0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4).[0m ×2 + 7.52sWARNcontroller_managerOverrun might occur, Total time : 1840.561 us (Expected < 1666.667 us) --> Read time : 190.954 us, Update time : 49.951 us, Write time : 1599.656 us + 7.52sWARNros2_control_nodeOverrun might occur, Total time : 1840.561 us (Expected < 1666.667 us) --> Read time : 190.954 us, Update time : 49.951 us, Write time : 1599.656 us[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368322 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368322 ms (missed cycles : 4).[0m ×2 + 8.64sWARNcontroller_managerOverrun might occur, Total time : 1868.992 us (Expected < 1666.667 us) --> Read time : 664.805 us, Update time : 77.082 us, Write time : 1127.105 us + 8.64sWARNros2_control_nodeOverrun might occur, Total time : 1868.992 us (Expected < 1666.667 us) --> Read time : 664.805 us, Update time : 77.082 us, Write time : 1127.105 us[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788378 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788378 ms (missed cycles : 3).[0m ×2 + 9.38sINFOobjective_server_node[0;93m2026-06-10 22:26:59.154738024 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.38sINFOobjective_server_node[0;93m2026-06-10 22:26:59.154771675 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.72sWARNcontroller_managerOverrun might occur, Total time : 2658.090 us (Expected < 1666.667 us) --> Read time : 189.954 us, Update time : 2005.356 us, Write time : 462.780 us + 9.73sWARNros2_control_nodeOverrun might occur, Total time : 2658.090 us (Expected < 1666.667 us) --> Read time : 189.954 us, Update time : 2005.356 us, Write time : 462.780 us[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726003 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726003 ms (missed cycles : 2).[0m ×2 + 9.97sINFOobjective_server_node[0;93m2026-06-10 22:26:59.741898872 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.97sINFOobjective_server_node[0;93m2026-06-10 22:26:59.741940243 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.12sINFOobjective_server_node[0;93m2026-06-10 22:26:59.900373129 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.13sINFOobjective_server_node[0;93m2026-06-10 22:26:59.903848968 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.13sINFOobjective_server_node[0;93m2026-06-10 22:26:59.903893649 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.49sINFOobjective_server_node[0;93m2026-06-10 22:27:00.269715656 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.52sINFOobjective_server_node[0;93m2026-06-10 22:27:00.291102380 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.52sINFOobjective_server_node[0;93m2026-06-10 22:27:00.291143311 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.85sWARNcontroller_managerOverrun might occur, Total time : 12556.314 us (Expected < 1666.667 us) --> Read time : 177.084 us, Update time : 51.291 us, Write time : 12327.939 us + 10.85sWARNros2_control_nodeOverrun might occur, Total time : 12556.314 us (Expected < 1666.667 us) --> Read time : 177.084 us, Update time : 51.291 us, Write time : 12327.939 us[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533609 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533609 ms (missed cycles : 3).[0m ×2 + 11.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 11.88sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 11.88sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 12.07sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 12.07sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 12.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 12.89sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 12.89sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 12.89sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 12.89sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 13.01sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.01sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 13.27sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 13.28sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 13.53sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.53sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.65sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.66sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.66sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.99sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 14.00sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 14.00sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 14.53sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 14.53sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 14.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 14.90sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 14.90sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.0s	57 warnings · 98 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1868.992 us (Expected < 1666.667 us) --> Read time : 664.805 us, Update time : 77.082 us, Write time : 1127.105 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1868.992 us (Expected < 1666.667 us) --> Read time : 664.805 us, Update time : 77.082 us, Write time : 1127.105 us[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788378 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788378 ms (missed cycles : 3).[0m ×2 + 0.74sINFOobjective_server_node[0;93m2026-06-10 22:26:59.154738024 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.74sINFOobjective_server_node[0;93m2026-06-10 22:26:59.154771675 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 2658.090 us (Expected < 1666.667 us) --> Read time : 189.954 us, Update time : 2005.356 us, Write time : 462.780 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2658.090 us (Expected < 1666.667 us) --> Read time : 189.954 us, Update time : 2005.356 us, Write time : 462.780 us[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726003 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726003 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-06-10 22:26:59.741898872 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.33sINFOobjective_server_node[0;93m2026-06-10 22:26:59.741940243 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.48sINFOobjective_server_node[0;93m2026-06-10 22:26:59.900373129 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.49sINFOobjective_server_node[0;93m2026-06-10 22:26:59.903848968 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.49sINFOobjective_server_node[0;93m2026-06-10 22:26:59.903893649 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.85sINFOobjective_server_node[0;93m2026-06-10 22:27:00.269715656 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.88sINFOobjective_server_node[0;93m2026-06-10 22:27:00.291102380 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.88sINFOobjective_server_node[0;93m2026-06-10 22:27:00.291143311 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 12556.314 us (Expected < 1666.667 us) --> Read time : 177.084 us, Update time : 51.291 us, Write time : 12327.939 us + 2.21sWARNros2_control_nodeOverrun might occur, Total time : 12556.314 us (Expected < 1666.667 us) --> Read time : 177.084 us, Update time : 51.291 us, Write time : 12327.939 us[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533609 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533609 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 3.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 4.25sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.25sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.25sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.25sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.37sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.37sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 4.89sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.89sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.01sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.02sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.02sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.35sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.36sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.36sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 6.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 6.26sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 6.26sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us[0m ×2 + 7.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781130425.44728398 seconds. ×3 + 7.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.12sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.27sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 7.27sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 7.27sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 7.27sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2).[0m ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.47sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Accepted new action goal ×2 + 8.16sWARNcontroller_managerOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us + 8.16sWARNros2_control_nodeOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7).[0m ×2 + 9.20sWARNcontroller_managerOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us + 9.20sWARNros2_control_nodeOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2).[0m ×2
✓ passed	Look at Table	look_at_table.xml	2.7s	57 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us[0m ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781130409.69300628 seconds ×3 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.17sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781130410.32748199 seconds. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sWARNcontroller_managerOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781130410.42762065 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781130410.99428463 seconds. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.96sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4).[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781130413.12443328 seconds ×3 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781130413.70135808 seconds. ×3 + 6.67sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Accepted new action goal ×2 + 6.93sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 6.94sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 7.16sWARNcontroller_managerOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8).[0m ×2 + 8.24sWARNcontroller_managerOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us + 8.24sWARNros2_control_nodeOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4).[0m ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	2.0s	798 errors · 51 warnings · 895 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×264 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085101293758 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×528 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085101293758[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000949513903204 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000949513903204[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001086946694457 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001086946694457[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000551763485151 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000551763485151[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383241578442 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383241578442[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874857801865 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874857801865[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091706067620 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091706067620[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046371164988 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046371164988[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147875625568 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147875625568[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000957569812659 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000957569812659[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048558693764 ×2 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048558693764[0m ×4 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455934373280 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455934373280[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071809811875 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071809811875[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001070553237866 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001070553237866[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894699712050 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894699712050[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090817939585 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090817939585[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947319257546 ×2 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947319257546[0m ×4 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090181932351 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001090181932351[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000561516876868 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000561516876868[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383759396220 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001383759396220[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874951392653 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000874951392653[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093406799497 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093406799497[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147386537344 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002147386537344[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000959442003543 ×2 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000959442003543[0m ×4 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002049427114530 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002049427114530[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000454939742088 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000454939742088[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159829 ms (missed cycles : 5). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159829 ms (missed cycles : 5).[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071662754562 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071662754562[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069667435135 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069667435135[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000893218485447 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000893218485447[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945477883310 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945477883310[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001088683518013 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001088683518013[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000541366531974 ×2 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000541366531974[0m ×4 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380798709742 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380798709742[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000877206190376 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000877206190376[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090074282926 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090074282926[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001048017787814 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001048017787814[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002148353286626 ×2 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002148353286626[0m ×4 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956165004092 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956165004092[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045445063381 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045445063381[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458928197270 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458928197270[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074152067492 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074152067492[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000953787073566 ×2 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000953787073566[0m ×4 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892856838059 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892856838059[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001073504444934 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001073504444934[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001093727679437 ×2 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001093727679437[0m ×4 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000586073561336 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000586073561336[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873221812137 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 2030.246 us (Expected < 1666.667 us) --> Read time : 189.934 us, Update time : 1125.416 us, Write time : 714.896 us + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873221812137[0m ×2 + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 2030.246 us (Expected < 1666.667 us) --> Read time : 189.934 us, Update time : 1125.416 us, Write time : 714.896 us[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002145192166802 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002145192166802[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963976168326 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963976168326[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052029056687 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052029056687[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000452379949523 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000452379949523[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070553283420 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070553283420[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000951145747182 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000951145747182[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884808035997 ×2 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884808035997[0m ×4 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067444054787 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067444054787[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888482679326 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888482679326[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085889517055 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085889517055[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995639274173 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995639274173[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083230069246 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083230069246[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967674499698 ×2 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967674499698[0m ×4 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050017789803 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050017789803[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000443965402331 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000443965402331[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080512192009 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080512192009[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000938844445578 ×2 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000938844445578[0m ×4 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896288183498 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896288183498[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001058357475138 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001058357475138[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001081560175505 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001081560175505[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000946736831620 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000946736831620[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083060543356 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001083060543356[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000514751624331 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000514751624331[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376536980482 ×2 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376536980482[0m ×4 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000879219415068 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000879219415068[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423557516132 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423557516132[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404562537588 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404562537588[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000440110038657 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000440110038657[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387860067692 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387860067692[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000888826607982 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000888826607982[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000457847712733 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000457847712733[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000897150603403 ×2 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000897150603403[0m ×4 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465655979972 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465655979972[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369238032563 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369238032563[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899930006500 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899930006500[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468153058156 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468153058156[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900469272182 ×2 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900469272182[0m ×4 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899651672841 ×2 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899651672841[0m ×4 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468526834759 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468526834759[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368453043494 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368453043494[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901064699266 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901064699266[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468671085199 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468671085199[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367593011692 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367593011692[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900235965743 ×2 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900235965743[0m ×4 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468114074973 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468114074973[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368276076860 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368276076860[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899861379511 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899861379511[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899867149306 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899867149306[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468164869693 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468164869693[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368248067525 ×2 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368248067525[0m ×4 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899240618011 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899240618011[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468233265755 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468233265755[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368592373721 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368592373721[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900942767849 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900942767849[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468588262442 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468588262442[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367634685071 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367634685071[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900185528952 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900185528952[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468087004525 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468087004525[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368307842257 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603815 ms (missed cycles : 3). + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368307842257[0m ×2 + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603815 ms (missed cycles : 3).[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037627876 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037627876[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468194691677 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468194691677[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899257224720 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899257224720[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468246548112 ×2 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468246548112[0m ×4 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900884893154 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900884893154[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367663301859 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367663301859[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900213788259 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900213788259[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468118944321 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468118944321[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368234286771 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368234286771[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899825950028 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899825950028[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468029609028 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468029609028[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368348037268 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368348037268[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899865594591 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899865594591[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468175188541 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468175188541[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368230816156 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368230816156[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899254967410 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899254967410[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468276046700 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468276046700[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368544151313 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368544151313[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900834157707 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900834157707[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468537981842 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468537981842[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367757939996 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367757939996[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900160796902 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900160796902[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468133599235 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468133599235[0m ×2 + 1.59sWARNcontroller_managerOverrun might occur, Total time : 7941.098 us (Expected < 1666.667 us) --> Read time : 335.008 us, Update time : 6902.555 us, Write time : 703.535 us + 1.59sWARNros2_control_nodeOverrun might occur, Total time : 7941.098 us (Expected < 1666.667 us) --> Read time : 335.008 us, Update time : 6902.555 us, Write time : 703.535 us[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368299831225 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368299831225[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468055507434 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468055507434[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368338496867 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368338496867[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899862333998 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899862333998[0m ×2 + 1.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468205210989 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468205210989[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368193228265 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368193228265[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899274658179 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899274658179[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468249038913 ×2 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468249038913[0m ×4 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623370583 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623370583[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900886204652 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900886204652[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468548055077 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468548055077[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900216648918 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900216648918[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468090367387 ×2 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468090367387[0m ×4 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368294410297 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368294410297[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899805987648 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899805987648[0m ×2 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468009638034 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468009638034[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468177935926 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468177935926[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899258013544 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899258013544[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468241615463 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468241615463[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623125396 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368623125396[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900887902704 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900887902704[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468549920062 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468549920062[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367699418744 ×2 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367699418744[0m ×4 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900205655671 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900205655671[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468117969742 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468117969742[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368282038743 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368282038743[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899812697022 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899812697022[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468028675544 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468028675544[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368366583475 ×2 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368366583475[0m ×4 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899838874196 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899838874196[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468148372940 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468148372940[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368213542091 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368213542091[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368613377109 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368613377109[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900910705755 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900910705755[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021 ×2 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021[0m ×4 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865[0m ×2 + 2.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682 ×2 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682[0m ×4 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543 ×2 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543[0m ×4 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174 + 2.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897 + 2.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3). + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623 ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3).[0m ×2 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623[0m ×4 + 2.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923 ×2 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923[0m ×4 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611 ×2 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611[0m ×4 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493 + 2.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098 ×2 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098[0m ×4 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190[0m ×2 + 2.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318 + 2.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318[0m ×2 + 2.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514[0m ×2 + 2.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320 + 2.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525 + 2.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775 ×2 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775[0m ×4 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824[0m ×2 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697[0m ×2 + 2.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428 ×2 + 2.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428[0m ×4 + 2.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279 + 2.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279[0m ×2 + 2.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105[0m ×2 + 2.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710 + 2.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710[0m ×2 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326[0m ×2 + 2.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624 + 2.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624[0m ×2 + 2.90sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2).[0m ×2 + 3.54sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×6 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130517.56949306 seconds ×3 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.68sWARNcontroller_managerOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us[0m ×2 + 4.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781130518.16481829 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.29sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Accepted new action goal ×2 + 4.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130519.55684900 seconds ×3 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us[0m ×2 + 6.15sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781130520.17067432 seconds. ×3 + 6.27sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 6.27sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.33sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3).[0m ×2 + 7.10sWARNcontroller_managerOverrun might occur, Total time : 2179.700 us (Expected < 1666.667 us) --> Read time : 280.547 us, Update time : 169.124 us, Write time : 1730.029 us + 7.10sWARNros2_control_nodeOverrun might occur, Total time : 2179.700 us (Expected < 1666.667 us) --> Read time : 280.547 us, Update time : 169.124 us, Write time : 1730.029 us[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685093 ms (missed cycles : 8). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685093 ms (missed cycles : 8).[0m ×2 + 8.18sWARNcontroller_managerOverrun might occur, Total time : 2093.297 us (Expected < 1666.667 us) --> Read time : 271.226 us, Update time : 76.972 us, Write time : 1745.099 us + 8.18sWARNros2_control_nodeOverrun might occur, Total time : 2093.297 us (Expected < 1666.667 us) --> Read time : 271.226 us, Update time : 76.972 us, Write time : 1745.099 us[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244857 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244857 ms (missed cycles : 2).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	1.7s	64 warnings · 487 info
+ 0.00sINFOobjective_server_node[2026-06-10 22:25:15.833] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.01sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784393 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784393 ms (missed cycles : 2).[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color" + 0.29sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color" + 0.29sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color"[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color"[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info" + 0.29sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth" + 0.30sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 0.30sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 0.30sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 0.30sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points" + 0.30sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info" + 0.30sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth" + 0.30sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth"[0m ×2 + 0.31sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOros2_control_node[2026-06-10 22:25:16.176] [info] Controller state will be published at 10 Hz. ×2 + 0.34sINFOros2_control_node[2026-06-10 22:25:16.177] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9831] ×2 + 0.65sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.69sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.70sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.76sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.76sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.76sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.76sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.76sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.76sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.77sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.77sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.79sINFOros2_control_node[2026-06-10 22:25:16.627] [info] Controller state will be published at 20 Hz. ×2 + 0.79sINFOros2_control_node[2026-06-10 22:25:16.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.93sINFOmove_group ×4 + 0.93sINFOmove_group[92mYou can start planning now![0m ×2 + 0.95sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event" + 0.95sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.95sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 0.95sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event" + 0.95sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.95sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event"[0m ×2 + 0.95sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/command" + 0.95sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/command"[0m ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers" + 0.96sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event" + 0.96sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers"[0m ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/controller_state" + 0.96sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/command" + 0.96sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/blackboard_contents" + 0.96sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/command"[0m ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/blackboard_contents"[0m ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/behavior_tree_status" + 0.96sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/behavior_tree_status"[0m ×2 + 1.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 1.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.078147 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.078147 ms (missed cycles : 5).[0m ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9832] ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.18sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9825] ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 1.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/transition_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.62sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/joint_trajectory" + 1.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/controller_state" + 1.62sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 1.63sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9824] ×2 + 2.03sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.03sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.03sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 2.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 2.08sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us + 2.09sWARNros2_control_nodeOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us[0m ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.12sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.18sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 2.18sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench" + 2.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event" + 2.18sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 2.18sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 2.19sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 2.31sWARNobjective_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.40sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9822] ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 2.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 2.54sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.54sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.54sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.57sINFOros2_control_node[2026-06-10 22:25:18.399] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.57sINFOros2_control_node[2026-06-10 22:25:18.399] [info] Controller state will be published at 50 Hz. ×2 + 2.57sINFOros2_control_node[2026-06-10 22:25:18.404] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.71sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state" + 2.71sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 2.71sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 2.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9829] ×2 + 2.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.92sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 2.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 2.93sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.98sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 2.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 2.98sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.98sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.98sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us[0m ×2 + 2.99sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781130318.93411541 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781130318.94430757 seconds ×3 + 3.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event" + 3.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 3.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 3.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 3.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 3.64sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.78sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 4.80sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 5.99sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 6.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 6.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 6.99sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 7.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 7.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 8.05sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 8.05sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 8.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 8.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.37sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.37sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 8.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.39sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 8.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.39sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 8.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.7s	3 errors · 51 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7).[0m ×2 + 1.64sWARNcontroller_managerOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us + 1.64sWARNros2_control_nodeOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3).[0m ×2 + 3.62sINFOros2_control_node[2026-06-10 22:30:44.867] [info] Got request to cancel active goal. ×2 + 3.62sINFOros2_control_node[2026-06-10 22:30:44.869] [info] Canceling active goal... ×2 + 3.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781130644.87212181 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781130645.44530869 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us[0m ×2 + 4.44sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 4.44sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781130646.55551720 seconds ×3 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781130647.12865782 seconds. ×3 + 5.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.88sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781130647.13036942 seconds ×3 + 5.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.96sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.96sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781130647.68758059 seconds. ×3 + 6.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781130647.68820715 seconds ×3 + 6.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us[0m ×2 + 7.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781130648.39684391 seconds. ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3).[0m ×2 + 7.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781130648.98696375 seconds ×3 + 7.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.02sWARNcontroller_managerOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us + 8.24sWARNros2_control_nodeOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	1.6s	56 warnings · 246 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9824] ×2 + 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench" + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.28sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2).[0m ×2 + 0.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9822] ×2 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.51sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] Controller state will be published at 50 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.404] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9829] ×2 + 0.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.95sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781130318.93411541 seconds. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781130318.94430757 seconds ×3 + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 4.96sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 6.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 6.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 6.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 6.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.08sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 7.26sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 8.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	42 warnings · 76 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us[0m ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781130409.69300628 seconds ×3 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.17sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781130410.32748199 seconds. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sWARNcontroller_managerOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781130410.42762065 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781130410.99428463 seconds. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.96sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4).[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781130413.12443328 seconds ×3 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781130413.70135808 seconds. ×3 + 6.67sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Accepted new action goal ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 45 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 2.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 2.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.80sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 2.80sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 3.07sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 3.65sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 4.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.64sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 5.64sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5). + 7.19sWARNcontroller_managerOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5).[0m ×2 + 7.19sWARNros2_control_nodeOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	39 warnings · 51 info
+ 0.00sINFOros2_control_node[2026-06-10 22:26:01.448] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 22:26:01.448] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 1833.999 us (Expected < 1666.667 us) --> Read time : 149.494 us, Update time : 63.051 us, Write time : 1621.454 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 1833.999 us (Expected < 1666.667 us) --> Read time : 149.494 us, Update time : 63.051 us, Write time : 1621.454 us[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us[0m ×2 + 1.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.71sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781130364.44359660 seconds ×3 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781130365.03731751 seconds. ×3 + 3.62sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.62sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.64sWARNcontroller_managerOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781130365.11749005 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781130365.74228358 seconds. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3).[0m ×2 + 4.62sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.62sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8).[0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 4.88sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 5.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 2.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 2.64sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 3.37sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.37sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 3.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3).[0m ×2 + 7.04sWARNcontroller_managerOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us + 7.04sWARNros2_control_nodeOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 42 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_node[2026-06-10 22:30:44.867] [info] Got request to cancel active goal. ×2 + 1.98sINFOros2_control_node[2026-06-10 22:30:44.869] [info] Canceling active goal... ×2 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781130644.87212181 seconds ×3 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781130645.44530869 seconds. ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us[0m ×2 + 2.80sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 2.80sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781130646.55551720 seconds ×3 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781130647.12865782 seconds. ×3 + 4.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781130647.13036942 seconds ×3 + 4.32sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.32sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 4.32sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.33sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781130647.68758059 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781130647.68820715 seconds ×3 + 4.83sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 4.83sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781130648.39684391 seconds. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781130648.98696375 seconds ×3 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2).[0m ×2
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	3 errors · 45 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_node[2026-06-10 22:30:44.867] [info] Got request to cancel active goal. ×2 + 1.49sINFOros2_control_node[2026-06-10 22:30:44.869] [info] Canceling active goal... ×2 + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781130644.87212181 seconds ×3 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781130645.44530869 seconds. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us[0m ×2 + 2.31sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781130646.55551720 seconds ×3 + 3.35sWARNcontroller_managerOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us + 3.35sWARNros2_control_nodeOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781130647.12865782 seconds. ×3 + 3.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.75sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781130647.13036942 seconds ×3 + 3.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.83sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 3.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.83sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781130647.68758059 seconds. ×3 + 4.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781130647.68820715 seconds ×3 + 4.34sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 4.34sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.62sWARNcontroller_managerOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781130648.39684391 seconds. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515525 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781130648.98696375 seconds ×3 + 5.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 1932.594 us (Expected < 1666.667 us) --> Read time : 270.826 us, Update time : 762.748 us, Write time : 899.020 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704101 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun might occur, Total time : 1965.005 us (Expected < 1666.667 us) --> Read time : 200.145 us, Update time : 1341.631 us, Write time : 423.229 us + 7.04sWARNros2_control_nodeOverrun might occur, Total time : 1965.005 us (Expected < 1666.667 us) --> Read time : 200.145 us, Update time : 1341.631 us, Write time : 423.229 us[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860758 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860758 ms (missed cycles : 3).[0m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.2s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 3.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781130425.44728398 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2).[0m ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.1s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 2.81sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.81sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 3.20sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 3.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.09sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.1s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 2.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5). + 6.16sWARNcontroller_managerOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5).[0m ×2 + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.1s	39 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781130589.47284341 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781130590.25469017 seconds. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4).[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.16sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.16sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.17sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 4.42sWARNcontroller_managerOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	36 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us[0m ×2 + 1.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781130364.44359660 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781130365.03731751 seconds. ×3 + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781130365.11749005 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781130365.74228358 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3).[0m ×2 + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4).[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	36 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us[0m ×2 + 1.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781130364.44359660 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781130365.03731751 seconds. ×3 + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781130365.11749005 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781130365.74228358 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3).[0m ×2 + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	39 warnings · 76 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781130410.32748199 seconds. ×3 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4).[0m ×2 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us + 0.61sWARNros2_control_nodeOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us[0m ×2 + 0.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sWARNcontroller_managerOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us + 0.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sWARNros2_control_nodeOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781130410.42762065 seconds ×3 + 1.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781130410.99428463 seconds. ×3 + 1.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.34sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781130413.12443328 seconds ×3 + 3.38sWARNcontroller_managerOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us + 3.39sWARNros2_control_nodeOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781130413.70135808 seconds. ×3 + 4.05sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Accepted new action goal ×2 + 4.31sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.31sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us[0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	39 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245681 ms (missed cycles : 5).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2638.301 us (Expected < 1666.667 us) --> Read time : 258.136 us, Update time : 1891.814 us, Write time : 488.351 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065609 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 5526.457 us (Expected < 1666.667 us) --> Read time : 149.943 us, Update time : 4909.224 us, Write time : 467.290 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782192 ms (missed cycles : 3).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 5000.776 us (Expected < 1666.667 us) --> Read time : 4419.742 us, Update time : 83.572 us, Write time : 497.462 us[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781130589.47284341 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330175 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 5738.332 us (Expected < 1666.667 us) --> Read time : 173.644 us, Update time : 4862.232 us, Write time : 702.456 us[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781130590.25469017 seconds. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-10 22:29:50.509] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593002 ms (missed cycles : 4).[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.16sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.16sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.17sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 4.42sWARNcontroller_managerOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 4482.852 us (Expected < 1666.667 us) --> Read time : 165.893 us, Update time : 3740.786 us, Write time : 576.173 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027719 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 6221.392 us (Expected < 1666.667 us) --> Read time : 284.486 us, Update time : 5395.524 us, Write time : 541.382 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723124 ms (missed cycles : 2).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 45 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 4.88sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 5.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 2.81sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.81sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 3.20sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 3.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.09sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363514 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 4144.375 us (Expected < 1666.667 us) --> Read time : 180.755 us, Update time : 3442.208 us, Write time : 521.412 us[0m ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 42 warnings · 56 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7).[0m ×2 + 1.64sWARNcontroller_managerOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us + 1.64sWARNros2_control_nodeOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3).[0m ×2 + 3.62sINFOros2_control_node[2026-06-10 22:30:44.867] [info] Got request to cancel active goal. ×2 + 3.62sINFOros2_control_node[2026-06-10 22:30:44.869] [info] Canceling active goal... ×2 + 3.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781130644.87212181 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781130645.44530869 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us[0m ×2 + 4.44sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 4.44sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781130646.55551720 seconds ×3 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781130647.12865782 seconds. ×3 + 5.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.88sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781130647.13036942 seconds ×3 + 5.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.96sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.96sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781130647.68758059 seconds. ×3 + 6.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781130647.68820715 seconds ×3 + 6.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 2.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 2.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.80sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 2.80sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 3.07sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 3.65sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 4.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.64sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 5.64sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998703 ms (missed cycles : 3).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 6557.238 us (Expected < 1666.667 us) --> Read time : 163.204 us, Update time : 5872.692 us, Write time : 521.342 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 2.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 2.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.80sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 2.80sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 3.07sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 3.65sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 4.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.64sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 5.64sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 2.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5). + 6.16sWARNcontroller_managerOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5).[0m ×2 + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 2.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5). + 6.16sWARNcontroller_managerOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5).[0m ×2 + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974554 ms (missed cycles : 2).[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 1824.141 us (Expected < 1666.667 us) --> Read time : 1348.630 us, Update time : 61.622 us, Write time : 413.889 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185014 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 1708.339 us (Expected < 1666.667 us) --> Read time : 910.561 us, Update time : 369.008 us, Write time : 428.770 us[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-10 22:25:34.599] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305926 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-06-10 22:25:34.865] [info] Canceling active goal... ×2 + 2.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781130334.88104773 seconds ×3 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781130335.44253826 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 4412.699 us (Expected < 1666.667 us) --> Read time : 281.416 us, Update time : 3545.280 us, Write time : 586.003 us[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781130335.56266928 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733806 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781130336.23796320 seconds. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1805.431 us (Expected < 1666.667 us) --> Read time : 197.345 us, Update time : 605.463 us, Write time : 1002.623 us[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266791 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-06-10 22:25:37.432] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719883 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 4636.333 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 3767.324 us, Write time : 670.325 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5). + 6.16sWARNcontroller_managerOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029602 ms (missed cycles : 5).[0m ×2 + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 4416.719 us (Expected < 1666.667 us) --> Read time : 208.924 us, Update time : 3636.692 us, Write time : 571.103 us[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	36 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us[0m ×2 + 1.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781130364.44359660 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781130365.03731751 seconds. ×3 + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781130365.11749005 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781130365.74228358 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3).[0m ×2 + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	36 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721361 ms (missed cycles : 6).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.603359 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1936.841 us (Expected < 1666.667 us) --> Read time : 845.868 us, Update time : 120.432 us, Write time : 970.541 us[0m ×2 + 1.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-06-10 22:26:03.157] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952376 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 1749.366 us (Expected < 1666.667 us) --> Read time : 188.144 us, Update time : 472.760 us, Write time : 1088.462 us[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781130364.44359660 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745435 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781130365.03731751 seconds. ×3 + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.29sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 1878.570 us (Expected < 1666.667 us) --> Read time : 297.377 us, Update time : 58.341 us, Write time : 1522.852 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781130365.11749005 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781130365.74228358 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-10 22:26:05.847] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818693 ms (missed cycles : 3).[0m ×2 + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1770.818 us (Expected < 1666.667 us) --> Read time : 221.565 us, Update time : 73.681 us, Write time : 1475.572 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.684122 ms (missed cycles : 8).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 5235.011 us (Expected < 1666.667 us) --> Read time : 208.664 us, Update time : 55.391 us, Write time : 4970.956 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372373 ms (missed cycles : 4).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 40 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4333.572 us (Expected < 1666.667 us) --> Read time : 294.447 us, Update time : 3507.744 us, Write time : 531.381 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040623 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1962.803 us (Expected < 1666.667 us) --> Read time : 175.224 us, Update time : 772.487 us, Write time : 1015.092 us[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-10 22:26:13.934] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722522 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1857.811 us (Expected < 1666.667 us) --> Read time : 231.645 us, Update time : 710.126 us, Write time : 916.040 us[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901703 ms (missed cycles : 3).[0m ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-10 22:26:15.762] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781130375.77689552 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1694.748 us (Expected < 1666.667 us) --> Read time : 245.026 us, Update time : 59.151 us, Write time : 1390.571 us[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338659 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781130376.36382484 seconds. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 4.16sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3249.053 us (Expected < 1666.667 us) --> Read time : 875.220 us, Update time : 88.842 us, Write time : 2284.991 us[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292444 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-10 22:26:17.528] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.214 us (Expected < 1666.667 us) --> Read time : 244.006 us, Update time : 1270.008 us, Write time : 426.200 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242700 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 3748.345 us (Expected < 1666.667 us) --> Read time : 191.924 us, Update time : 2856.975 us, Write time : 699.446 us[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223369 ms (missed cycles : 4).
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 36 warnings · 68 info
+ 0.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.04sINFOros2_control_node[2026-06-10 22:26:34.631] [info] Received new action goal ×2 + 0.04sINFOros2_control_node[2026-06-10 22:26:34.631] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047016 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047016 ms (missed cycles : 2).[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 1878.573 us (Expected < 1666.667 us) --> Read time : 158.734 us, Update time : 64.511 us, Write time : 1655.328 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 1878.573 us (Expected < 1666.667 us) --> Read time : 158.734 us, Update time : 64.511 us, Write time : 1655.328 us[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995905 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995905 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077900 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077900 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 2.42sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 2.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.51sINFOobjective_server_nodeFound path in 5 iterations (0.00610976 s). ×2 + 2.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 2.60sINFOros2_control_node[2026-06-10 22:26:37.185] [info] Received new action goal ×2 + 2.60sINFOros2_control_node[2026-06-10 22:26:37.185] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 1705.719 us (Expected < 1666.667 us) --> Read time : 165.064 us, Update time : 492.361 us, Write time : 1048.294 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 1705.719 us (Expected < 1666.667 us) --> Read time : 165.064 us, Update time : 492.361 us, Write time : 1048.294 us[0m ×2 + 3.00sINFOros2_control_node[2026-06-10 22:26:37.587] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-06-10 22:26:37.587] [info] Accepted new action goal ×2 + 3.28sINFOros2_control_node[2026-06-10 22:26:37.871] [info] Got request to cancel active goal. ×2 + 3.28sINFOros2_control_node[2026-06-10 22:26:37.871] [info] Canceling active goal... ×2 + 3.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781130397.88833189 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674602 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674602 ms (missed cycles : 2).[0m ×2 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 7879.357 us (Expected < 1666.667 us) --> Read time : 205.335 us, Update time : 6994.477 us, Write time : 679.545 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 7879.357 us (Expected < 1666.667 us) --> Read time : 205.335 us, Update time : 6994.477 us, Write time : 679.545 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781130398.51276565 seconds. ×3 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-06-10 22:26:38.697] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-06-10 22:26:38.697] [info] Accepted new action goal ×2 + 4.37sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.37sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.37sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.37sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388067 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388067 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 3086.010 us (Expected < 1666.667 us) --> Read time : 318.267 us, Update time : 1244.328 us, Write time : 1523.415 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 3086.010 us (Expected < 1666.667 us) --> Read time : 318.267 us, Update time : 1244.328 us, Write time : 1523.415 us[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945859 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945859 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2407.754 us (Expected < 1666.667 us) --> Read time : 114.223 us, Update time : 37.290 us, Write time : 2256.241 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2407.754 us (Expected < 1666.667 us) --> Read time : 114.223 us, Update time : 37.290 us, Write time : 2256.241 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368030 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368030 ms (missed cycles : 3).[0m ×2 + 6.55sINFOros2_control_node[2026-06-10 22:26:41.141] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-06-10 22:26:41.141] [info] Accepted new action goal ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	39 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5532.935 us (Expected < 1666.667 us) --> Read time : 220.145 us, Update time : 4746.087 us, Write time : 566.703 us[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.222398 ms (missed cycles : 10).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 3719.904 us (Expected < 1666.667 us) --> Read time : 181.434 us, Update time : 67.131 us, Write time : 3471.339 us[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764878 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2043.926 us (Expected < 1666.667 us) --> Read time : 264.185 us, Update time : 77.232 us, Write time : 1702.509 us[0m ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386403 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781130409.69300628 seconds ×3 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.17sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781130410.32748199 seconds. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sWARNcontroller_managerOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781130410.42762065 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781130410.99428463 seconds. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4).[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781130413.12443328 seconds ×3 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us[0m ×2
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	39 warnings · 76 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781130410.32748199 seconds. ×3 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436478 ms (missed cycles : 4).[0m ×2 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us + 0.61sWARNros2_control_nodeOverrun might occur, Total time : 2739.552 us (Expected < 1666.667 us) --> Read time : 296.987 us, Update time : 189.924 us, Write time : 2252.641 us[0m ×2 + 0.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sWARNcontroller_managerOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us + 0.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sWARNros2_control_nodeOverrun might occur, Total time : 3978.850 us (Expected < 1666.667 us) --> Read time : 326.838 us, Update time : 3020.348 us (Switch time : 2942.866 us (Switch chained mode time : 0.380 us, perform mode change time : 3.560 us, Activation time : 2935.866 us, Deactivation time : 0.350 us)), Write time : 631.664 us[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781130410.42762065 seconds ×3 + 1.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781130410.99428463 seconds. ×3 + 1.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.34sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-10 22:26:51.119] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926874 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 1842.581 us (Expected < 1666.667 us) --> Read time : 390.079 us, Update time : 66.681 us, Write time : 1385.821 us[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840409 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781130413.12443328 seconds ×3 + 3.38sWARNcontroller_managerOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us + 3.39sWARNros2_control_nodeOverrun might occur, Total time : 2394.635 us (Expected < 1666.667 us) --> Read time : 168.894 us, Update time : 1831.052 us, Write time : 394.689 us[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351606 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781130413.70135808 seconds. ×3 + 4.05sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-10 22:26:53.825] [info] Accepted new action goal ×2 + 4.31sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.31sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 3137.891 us (Expected < 1666.667 us) --> Read time : 274.346 us, Update time : 2423.375 us, Write time : 440.170 us[0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.185428 ms (missed cycles : 8).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 7621.513 us (Expected < 1666.667 us) --> Read time : 220.725 us, Update time : 6893.407 us, Write time : 507.381 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851213 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416357 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 3.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781130425.44728398 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 3.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781130425.44728398 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 3.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781130425.44728398 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781130421.60198474 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.05sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433852 ms (missed cycles : 7).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 12610.204 us (Expected < 1666.667 us) --> Read time : 188.914 us, Update time : 60.311 us, Write time : 12360.979 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781130422.21248317 seconds. ×3 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785218073 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.18sINFOobjective_server_node[0;93m2026-06-10 22:27:02.785258504 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863085 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 3068.980 us (Expected < 1666.667 us) --> Read time : 187.045 us, Update time : 58.051 us, Write time : 2823.884 us[0m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308307961 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-10 22:27:03.308347892 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.428838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431949939 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-10 22:27:03.431976870 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-10 22:27:03.758038699 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777711624 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-10 22:27:03.777756035 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776900 ms (missed cycles : 3).[0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 2122.688 us (Expected < 1666.667 us) --> Read time : 278.586 us, Update time : 807.219 us, Write time : 1036.883 us[0m ×2 + 3.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781130424.64413524 seconds ×3 + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.08sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878894 ms (missed cycles : 2).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4480.482 us (Expected < 1666.667 us) --> Read time : 209.445 us, Update time : 3652.123 us, Write time : 618.914 us[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781130425.44728398 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.08sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332968 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-10 22:27:05.890] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3083.460 us (Expected < 1666.667 us) --> Read time : 267.847 us, Update time : 64.831 us, Write time : 2750.782 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.546587 ms (missed cycles : 7).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1752.679 us (Expected < 1666.667 us) --> Read time : 215.455 us, Update time : 82.372 us, Write time : 1454.852 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186679 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	39 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2129.771 us (Expected < 1666.667 us) --> Read time : 335.218 us, Update time : 1278.650 us, Write time : 515.903 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2129.771 us (Expected < 1666.667 us) --> Read time : 335.218 us, Update time : 1278.650 us, Write time : 515.903 us[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986504 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986504 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1818.953 us (Expected < 1666.667 us) --> Read time : 849.600 us, Update time : 44.431 us, Write time : 924.922 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1818.953 us (Expected < 1666.667 us) --> Read time : 849.600 us, Update time : 44.431 us, Write time : 924.922 us[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857385 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857385 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580784 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580784 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 5781.967 us (Expected < 1666.667 us) --> Read time : 306.587 us, Update time : 73.442 us, Write time : 5401.938 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 5781.967 us (Expected < 1666.667 us) --> Read time : 306.587 us, Update time : 73.442 us, Write time : 5401.938 us[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135245 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135245 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781130479.54420972 seconds ×3 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 2214.712 us (Expected < 1666.667 us) --> Read time : 168.684 us, Update time : 56.981 us, Write time : 1989.047 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 2214.712 us (Expected < 1666.667 us) --> Read time : 168.684 us, Update time : 56.981 us, Write time : 1989.047 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781130480.16378951 seconds. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.31sINFOros2_control_node[2026-06-10 22:28:00.319] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-06-10 22:28:00.319] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385779 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385779 ms (missed cycles : 4).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 9141.907 us (Expected < 1666.667 us) --> Read time : 234.046 us, Update time : 86.742 us, Write time : 8821.119 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 9141.907 us (Expected < 1666.667 us) --> Read time : 234.046 us, Update time : 86.742 us, Write time : 8821.119 us[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712097 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712097 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.60sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerSuccessfully switched controllers! + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 6.06sWARNcontroller_managerOverrun might occur, Total time : 7811.916 us (Expected < 1666.667 us) --> Read time : 213.575 us, Update time : 7006.147 us, Write time : 592.194 us + 6.07sWARNros2_control_nodeOverrun might occur, Total time : 7811.916 us (Expected < 1666.667 us) --> Read time : 213.575 us, Update time : 7006.147 us, Write time : 592.194 us[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539105 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539105 ms (missed cycles : 4).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	246 errors · 39 warnings · 343 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×80 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×160 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468529069570[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468078213838[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899806945360[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468036700333[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309499218[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899833894188[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468128796142[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021 ×2 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251277021[0m ×4 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938095713[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468225373865[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368160178895[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682 ×2 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899333444682[0m ×4 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368516468887[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367770572794[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900155657485[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468102453913[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368284940341[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899818069102[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468076035810[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543 ×2 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368342975543[0m ×4 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899809596465[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468185282215[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368235342050[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468278989910[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368534942257[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900831103174[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468542243897[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367733481820[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900152981426[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3). + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623 ×2 + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906336 ms (missed cycles : 3).[0m ×2 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468094074623[0m ×4 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923 ×2 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468044452923[0m ×4 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291728139[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899904732736[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368236636131[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899938730569[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468257286583[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611 ×2 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368163507611[0m ×4 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899289170493[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468255292535[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900878064244[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468541878791[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367683484611[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900178787796[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468067166112[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368268195646[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899828660945[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468037152236[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098 ×2 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368291214098[0m ×4 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899866961531[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 2784.953 us (Expected < 1666.667 us) --> Read time : 282.617 us, Update time : 243.375 us, Write time : 2258.961 us[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468183625190[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368635535318[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900867367514[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468577491320[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674498863[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900200294525[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775 ×2 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468104627775[0m ×4 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368318817824[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064749697[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428 ×2 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368309247428[0m ×4 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899852948227[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468199157666[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368251250279[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468239545796[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468564627633[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367674335247[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000900172647105[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468110518710[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368267762576[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468064124099[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000899815998326[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468141166624[0m ×2 + 0.88sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 0.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007203 ms (missed cycles : 2).[0m ×2 + 1.52sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×6 + 1.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130517.56949306 seconds ×3 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.67sWARNcontroller_managerOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us + 1.67sWARNros2_control_nodeOverrun might occur, Total time : 1783.180 us (Expected < 1666.667 us) --> Read time : 142.203 us, Update time : 1296.429 us, Write time : 344.548 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781130518.16481829 seconds. ×3 + 2.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.27sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-06-10 22:28:38.308] [info] Accepted new action goal ×2 + 2.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943009 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.73sWARNcontroller_managerOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2819.714 us (Expected < 1666.667 us) --> Read time : 267.236 us, Update time : 1898.893 us, Write time : 653.585 us[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934380 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781130519.55684900 seconds ×3 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 7702.364 us (Expected < 1666.667 us) --> Read time : 247.036 us, Update time : 6968.187 us, Write time : 487.141 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781130520.17067432 seconds. ×3 + 4.26sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.26sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-06-10 22:28:40.351] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764300 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 2179.700 us (Expected < 1666.667 us) --> Read time : 280.547 us, Update time : 169.124 us, Write time : 1730.029 us + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 2179.700 us (Expected < 1666.667 us) --> Read time : 280.547 us, Update time : 169.124 us, Write time : 1730.029 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685093 ms (missed cycles : 8). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685093 ms (missed cycles : 8).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 2093.297 us (Expected < 1666.667 us) --> Read time : 271.226 us, Update time : 76.972 us, Write time : 1745.099 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 2093.297 us (Expected < 1666.667 us) --> Read time : 271.226 us, Update time : 76.972 us, Write time : 1745.099 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244857 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244857 ms (missed cycles : 2).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	39 warnings · 2271 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289965 ms (missed cycles : 5). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289965 ms (missed cycles : 5).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 5972.267 us (Expected < 1666.667 us) --> Read time : 276.976 us, Update time : 5140.659 us, Write time : 554.632 us + 0.58sWARNros2_control_nodeOverrun might occur, Total time : 5972.267 us (Expected < 1666.667 us) --> Read time : 276.976 us, Update time : 5140.659 us, Write time : 554.632 us[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113990 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113990 ms (missed cycles : 5).[0m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 7912.573 us (Expected < 1666.667 us) --> Read time : 180.154 us, Update time : 7040.763 us, Write time : 691.656 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 7912.573 us (Expected < 1666.667 us) --> Read time : 180.154 us, Update time : 7040.763 us, Write time : 691.656 us[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533348 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533348 ms (missed cycles : 3).[0m ×2 + 2.90sWARNcontroller_managerOverrun might occur, Total time : 4044.112 us (Expected < 1666.667 us) --> Read time : 183.844 us, Update time : 80.862 us, Write time : 3779.406 us + 2.90sWARNros2_control_nodeOverrun might occur, Total time : 4044.112 us (Expected < 1666.667 us) --> Read time : 183.844 us, Update time : 80.862 us, Write time : 3779.406 us[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892528 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892528 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781130557.70038819 seconds ×3 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 1889.904 us (Expected < 1666.667 us) --> Read time : 110.683 us, Update time : 1308.520 us, Write time : 470.701 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 1889.904 us (Expected < 1666.667 us) --> Read time : 110.683 us, Update time : 1308.520 us, Write time : 470.701 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781130558.34253097 seconds. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773590 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773590 ms (missed cycles : 2).[0m ×2 + 4.60sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.60sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1695.400 us (Expected < 1666.667 us) --> Read time : 452.461 us, Update time : 172.044 us, Write time : 1070.895 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1695.400 us (Expected < 1666.667 us) --> Read time : 452.461 us, Update time : 172.044 us, Write time : 1070.895 us[0m ×2 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.31sINFOobjective_server_nodeFound path in 6 iterations (0.00506599 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.38sINFOros2_control_node[2026-06-10 22:29:19.529] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-06-10 22:29:19.529] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187667 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187667 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 2252.022 us (Expected < 1666.667 us) --> Read time : 564.983 us, Update time : 97.982 us, Write time : 1589.057 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 2252.022 us (Expected < 1666.667 us) --> Read time : 564.983 us, Update time : 97.982 us, Write time : 1589.057 us[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.447370 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.447370 ms (missed cycles : 4).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5). + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145486 ms (missed cycles : 5).[0m ×2 + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4535.874 us (Expected < 1666.667 us) --> Read time : 187.744 us, Update time : 3730.596 us, Write time : 617.534 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897844 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 8795.722 us (Expected < 1666.667 us) --> Read time : 275.777 us, Update time : 79.171 us, Write time : 8440.774 us[0m ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-06-10 22:29:58.575] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493766 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1704.789 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 93.292 us, Write time : 1338.820 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062486 ms (missed cycles : 2).[0m ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 7898.892 us (Expected < 1666.667 us) --> Read time : 226.755 us, Update time : 7059.643 us, Write time : 612.494 us[0m ×2 + 3.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-10 22:30:00.238] [info] Accepted new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-06-10 22:30:00.365] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781130600.37981868 seconds ×3 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043602 ms (missed cycles : 5).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1886.243 us (Expected < 1666.667 us) --> Read time : 1076.215 us, Update time : 298.276 us, Write time : 511.752 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781130601.02177835 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-10 22:30:01.224] [info] Accepted new action goal ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.52sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501526 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 1906.874 us (Expected < 1666.667 us) --> Read time : 239.215 us, Update time : 608.294 us, Write time : 1059.365 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.508006 ms (missed cycles : 7).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2041.467 us (Expected < 1666.667 us) --> Read time : 834.123 us, Update time : 253.297 us, Write time : 954.047 us[0m ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 39 warnings · 21 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1903.604 us (Expected < 1666.667 us) --> Read time : 736.081 us, Update time : 61.342 us, Write time : 1106.181 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158278 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1903.604 us (Expected < 1666.667 us) --> Read time : 736.081 us, Update time : 61.342 us, Write time : 1106.181 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158278 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445230 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445230 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4461.955 us (Expected < 1666.667 us) --> Read time : 483.034 us, Update time : 3448.736 us, Write time : 530.185 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 4461.955 us (Expected < 1666.667 us) --> Read time : 483.034 us, Update time : 3448.736 us, Write time : 530.185 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.553157 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.553157 ms (missed cycles : 7).[0m ×2 + 2.66sWARNcontroller_managerOverrun might occur, Total time : 6142.252 us (Expected < 1666.667 us) --> Read time : 141.854 us, Update time : 5427.382 us, Write time : 573.016 us + 2.67sWARNros2_control_nodeOverrun might occur, Total time : 6142.252 us (Expected < 1666.667 us) --> Read time : 141.854 us, Update time : 5427.382 us, Write time : 573.016 us[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111429 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111429 ms (missed cycles : 5).[0m ×2 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781130611.36209750 seconds ×3 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781130611.94242620 seconds. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212180 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212180 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.23sINFOros2_control_node[2026-06-10 22:30:12.211] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-10 22:30:12.211] [info] Accepted new action goal ×2 + 4.37sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.37sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.42sWARNcontroller_managerOverrun might occur, Total time : 5901.106 us (Expected < 1666.667 us) --> Read time : 340.400 us, Update time : 4877.557 us, Write time : 683.149 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 5901.106 us (Expected < 1666.667 us) --> Read time : 340.400 us, Update time : 4877.557 us, Write time : 683.149 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828963 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828963 ms (missed cycles : 6).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 1816.731 us (Expected < 1666.667 us) --> Read time : 274.358 us, Update time : 76.352 us, Write time : 1466.021 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 1816.731 us (Expected < 1666.667 us) --> Read time : 274.358 us, Update time : 76.352 us, Write time : 1466.021 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408645 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408645 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun might occur, Total time : 2977.143 us (Expected < 1666.667 us) --> Read time : 216.826 us, Update time : 2179.191 us, Write time : 581.126 us + 6.64sWARNros2_control_nodeOverrun might occur, Total time : 2977.143 us (Expected < 1666.667 us) --> Read time : 216.826 us, Update time : 2179.191 us, Write time : 581.126 us[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	39 warnings · 27 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4893.091 us (Expected < 1666.667 us) --> Read time : 172.864 us, Update time : 51.451 us, Write time : 4668.776 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318101 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4893.091 us (Expected < 1666.667 us) --> Read time : 172.864 us, Update time : 51.451 us, Write time : 4668.776 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318101 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504041 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504041 ms (missed cycles : 6).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 4263.877 us (Expected < 1666.667 us) --> Read time : 203.475 us, Update time : 3580.371 us, Write time : 480.031 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 4263.877 us (Expected < 1666.667 us) --> Read time : 203.475 us, Update time : 3580.371 us, Write time : 480.031 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161706 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161706 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 2737.713 us (Expected < 1666.667 us) --> Read time : 281.427 us, Update time : 1968.564 us, Write time : 487.722 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 2737.713 us (Expected < 1666.667 us) --> Read time : 281.427 us, Update time : 1968.564 us, Write time : 487.722 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313602 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313602 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781130621.80435562 seconds ×3 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 4503.122 us (Expected < 1666.667 us) --> Read time : 212.265 us, Update time : 3711.514 us, Write time : 579.343 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 4503.122 us (Expected < 1666.667 us) --> Read time : 212.265 us, Update time : 3711.514 us, Write time : 579.343 us[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781130622.42980266 seconds. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815816 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815816 ms (missed cycles : 3).[0m ×2 + 4.09sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution" + 4.09sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution"[0m ×2 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-06-10 22:30:22.575] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 22:30:22.575] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun might occur, Total time : 3233.123 us (Expected < 1666.667 us) --> Read time : 199.504 us, Update time : 2548.728 us, Write time : 484.891 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 3233.123 us (Expected < 1666.667 us) --> Read time : 199.504 us, Update time : 2548.728 us, Write time : 484.891 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037506 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037506 ms (missed cycles : 5).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 2322.833 us (Expected < 1666.667 us) --> Read time : 844.519 us, Update time : 509.292 us, Write time : 969.022 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 2322.833 us (Expected < 1666.667 us) --> Read time : 844.519 us, Update time : 509.292 us, Write time : 969.022 us[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149713 ms (missed cycles : 5). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149713 ms (missed cycles : 5).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 45 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 4.88sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 5.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 45 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 4.88sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 5.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 45 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1926.773 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 591.964 us, Write time : 1135.505 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088327 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 7160.973 us (Expected < 1666.667 us) --> Read time : 498.251 us, Update time : 39.351 us, Write time : 6623.371 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954716 ms (missed cycles : 3).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 4826.300 us (Expected < 1666.667 us) --> Read time : 253.926 us, Update time : 3788.436 us, Write time : 783.938 us[0m ×2 + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028553 ms (missed cycles : 4).[0m ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781130632.77001405 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049776 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.745 us (Expected < 1666.667 us) --> Read time : 193.075 us, Update time : 1205.877 us, Write time : 582.793 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781130633.33531213 seconds. ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3935.090 us (Expected < 1666.667 us) --> Read time : 255.756 us, Update time : 2982.978 us (Switch time : 2923.776 us (Switch chained mode time : 0.520 us, perform mode change time : 3.320 us, Activation time : 2913.856 us, Deactivation time : 0.460 us)), Write time : 696.356 us[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781130633.42548919 seconds ×3 + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.41sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.322995 ms (missed cycles : 9).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2225.280 us (Expected < 1666.667 us) --> Read time : 707.436 us, Update time : 496.911 us, Write time : 1020.933 us[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781130633.99723363 seconds. ×3 + 4.88sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781130634.01990008 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781130634.71662736 seconds. ×3 + 5.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-06-10 22:30:34.841] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469152 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2140.399 us (Expected < 1666.667 us) --> Read time : 1305.030 us, Update time : 221.995 us, Write time : 613.374 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510624 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 2503.967 us (Expected < 1666.667 us) --> Read time : 193.495 us, Update time : 51.521 us, Write time : 2258.951 us[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 42 warnings · 56 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078066 ms (missed cycles : 2).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 2464.996 us (Expected < 1666.667 us) --> Read time : 296.587 us, Update time : 143.733 us, Write time : 2024.676 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.477497 ms (missed cycles : 7).[0m ×2 + 1.64sWARNcontroller_managerOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us + 1.64sWARNros2_control_nodeOverrun might occur, Total time : 4490.912 us (Expected < 1666.667 us) --> Read time : 279.297 us, Update time : 3651.833 us, Write time : 559.782 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523805 ms (missed cycles : 4).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 3746.675 us (Expected < 1666.667 us) --> Read time : 322.557 us, Update time : 136.894 us, Write time : 3287.224 us[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431126 ms (missed cycles : 3).[0m ×2 + 3.62sINFOros2_control_node[2026-06-10 22:30:44.867] [info] Got request to cancel active goal. ×2 + 3.62sINFOros2_control_node[2026-06-10 22:30:44.869] [info] Canceling active goal... ×2 + 3.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781130644.87212181 seconds ×3 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781130645.44530869 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229406 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1687.949 us (Expected < 1666.667 us) --> Read time : 756.157 us, Update time : 533.732 us, Write time : 398.060 us[0m ×2 + 4.44sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 4.44sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172320 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781130646.55551720 seconds ×3 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 4226.596 us (Expected < 1666.667 us) --> Read time : 328.698 us, Update time : 3386.027 us, Write time : 511.871 us[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781130647.12865782 seconds. ×3 + 5.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.88sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781130647.13036942 seconds ×3 + 5.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.96sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.96sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431609 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781130647.68758059 seconds. ×3 + 6.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781130647.68820715 seconds ×3 + 6.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 1753.340 us (Expected < 1666.667 us) --> Read time : 225.876 us, Update time : 140.423 us, Write time : 1387.041 us[0m ×2

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

7 skip

− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	8.2s	61 warnings · 649 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-10-22-25-10-722258-a671969c6735-9774 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.58sINFOcontroller_managerupdate rate is 600 Hz + 1.58sINFOcontroller_managerOverruns handling is : enabled + 1.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941723 ms (missed cycles : 6). + 1.72sINFOros2_control_node-1process started with pid [9821] ×2 + 1.72sINFOmove_group-9process started with pid [9847] ×2 + 1.72sINFOparameter_manager_node-10process started with pid [9848] ×2 + 1.72sINFOwaypoint_manager_node-11process started with pid [9849] ×2 + 1.72sINFOmove_joint_resampler_node-12process started with pid [9850] ×2 + 1.72sINFOmove_end_effector_resampler_node-13process started with pid [9851] ×2 + 1.72sINFOobjective_server_node_main-14process started with pid [9852] ×2 + 1.72sINFOcomponent_container_mt-15process started with pid [9853] ×2 + 1.72sINFOexecute_objective_bridge-16process started with pid [9854] ×2 + 1.72sINFOui_teleop_bridge-17process started with pid [9855] ×2 + 1.72sINFOfoxglove_bridge-18process started with pid [9856] ×2 + 1.72sINFOtf2_web_republisher_node-19process started with pid [9857] ×2 + 1.72sINFOweb_video_server-20process started with pid [9978] ×2 + 1.72sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9822] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9823] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9824] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9825] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9829] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9831] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9832] ×2 + 1.74sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.74sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.74sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.74sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.74sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.74sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941723 ms (missed cycles : 6).[0m ×2 + 1.76sINFOcontroller_managerReceived robot description from topic. + 1.76sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.78sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.78sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.92sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.92sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.92sINFOfoxglove_bridgeServer listening on port 3201 + 1.93sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 2.01sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 2.01sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 2.02sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 2.02sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 2.02sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 2.04sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 2.04sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 2.04sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 2.05sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 2.05sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 2.06sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 2.06sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 2.06sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 2.06sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 2.06sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 2.07sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 2.07sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 2.07sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 2.07sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 2.08sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.08sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 2.08sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.08sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.08sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168238 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168238 ms (missed cycles : 4).[0m ×2 + 2.77sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 2.77sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 2.77sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.77sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.77sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.78sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.78sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.78sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.79sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world" + 2.79sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world"[0m ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene" + 2.81sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states" + 2.81sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene"[0m ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states"[0m ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.81sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.82sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.82sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.82sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 2.97sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.06sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.06sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.06sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.09sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics" + 4.09sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics"[0m ×2 + 4.09sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 4.09sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m ×2 + 4.35sINFOobjective_server_node[2026-06-10 22:25:15.833] [moveit_pro_license] [info] ×2 + 4.35sINFOobjective_server_node************************************************* ×4 + 4.35sINFOobjective_server_node* MoveIt Pro License ×2 + 4.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.35sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.35sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.35sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.35sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.35sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.35sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.35sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.35sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.35sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.35sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.35sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.36sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.36sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784393 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784393 ms (missed cycles : 2).[0m ×2 + 4.52sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 4.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 4.64sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color" + 4.64sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color" + 4.64sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color"[0m ×2 + 4.64sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info" + 4.65sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth" + 4.65sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 4.65sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 4.65sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 4.65sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points" + 4.65sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info" + 4.65sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth" + 4.65sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info"[0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth"[0m ×2 + 4.66sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 4.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 4.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.69sINFOros2_control_node[2026-06-10 22:25:16.176] [info] Controller state will be published at 10 Hz. ×2 + 4.69sINFOros2_control_node[2026-06-10 22:25:16.177] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.76sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.76sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.78sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.78sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.78sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.78sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.78sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.78sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.78sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.78sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9831] ×2 + 5.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.04sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 5.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 5.11sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.12sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.12sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.14sINFOros2_control_node[2026-06-10 22:25:16.627] [info] Controller state will be published at 20 Hz. ×2 + 5.15sINFOros2_control_node[2026-06-10 22:25:16.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.28sINFOmove_group ×4 + 5.28sINFOmove_group[92mYou can start planning now![0m ×2 + 5.30sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event" + 5.30sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event"[0m ×2 + 5.30sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 5.30sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event" + 5.30sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m ×2 + 5.30sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event"[0m ×2 + 5.30sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/command" + 5.30sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/command"[0m ×2 + 5.31sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers" + 5.31sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event" + 5.31sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers"[0m ×2 + 5.31sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 5.31sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/controller_state" + 5.31sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/command" + 5.31sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/blackboard_contents" + 5.31sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 5.31sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/command"[0m ×2 + 5.31sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/blackboard_contents"[0m ×2 + 5.31sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/behavior_tree_status" + 5.31sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/behavior_tree_status"[0m ×2 + 5.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 5.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.078147 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.078147 ms (missed cycles : 5).[0m ×2 + 5.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9832] ×2 + 5.51sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 5.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 5.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 5.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 5.53sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 5.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 5.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9825] ×2 + 5.83sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.83sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 5.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 5.88sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 5.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 5.88sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.88sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.88sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 5.88sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 5.88sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 5.88sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.88sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.88sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 5.88sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 5.88sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 5.89sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.89sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 5.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 5.97sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/transition_event" + 5.97sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 5.97sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/speed_scaling_input" + 5.97sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 5.97sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/joint_trajectory" + 5.97sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 5.98sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/controller_state" + 5.98sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 5.98sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 5.98sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 5.98sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 5.98sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 6.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9824] ×2 + 6.38sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.38sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 6.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 6.44sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 6.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us[0m ×2 + 6.46sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.46sINFOforce_torque_sensor_broadcasterconfigure successful + 6.46sINFOros2_control_nodeconfigure successful[0m ×2 + 6.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.47sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 6.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 6.53sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 6.53sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench" + 6.53sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event" + 6.53sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 6.66sWARNobjective_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 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.75sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.75sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.76sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9822] ×2 + 6.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 6.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 6.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 6.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 6.89sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 6.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 6.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.89sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.89sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.92sINFOros2_control_node[2026-06-10 22:25:18.399] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.92sINFOros2_control_node[2026-06-10 22:25:18.399] [info] Controller state will be published at 50 Hz. ×2 + 6.92sINFOros2_control_node[2026-06-10 22:25:18.404] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.06sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event" + 7.06sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state" + 7.06sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 7.06sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 7.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9829] ×2 + 7.27sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.27sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.27sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.27sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.27sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 7.27sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 7.29sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.33sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 7.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 7.33sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.33sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.33sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.33sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.34sWARNcontroller_managerOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us + 7.34sWARNros2_control_nodeOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us[0m ×2 + 7.35sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 7.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 7.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781130318.93411541 seconds. ×3 + 7.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781130318.94430757 seconds ×3 + 7.59sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event" + 7.59sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 7.59sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 7.59sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 7.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 7.99sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 8.00sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 8.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 8.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.13sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 8.13sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 9.15sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 9.15sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 9.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 9.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 10.34sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 10.34sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 10.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 11.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	48 warnings · 122 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.47sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 1.49sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 2.67sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 2.68sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 3.68sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 4.74sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 4.74sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 5.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.08sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 5.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 5.98sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 6.71sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 6.99sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2
− skipped	—	teleoperate.xml	0.0s	42 warnings · 111 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2
− skipped	—	addtovector.xml	0.0s	9 warnings · 211 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-10-22-25-10-722258-a671969c6735-9774 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.58sINFOcontroller_managerupdate rate is 600 Hz + 1.58sINFOcontroller_managerOverruns handling is : enabled + 1.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941723 ms (missed cycles : 6). + 1.72sINFOros2_control_node-1process started with pid [9821] ×2 + 1.72sINFOmove_group-9process started with pid [9847] ×2 + 1.72sINFOparameter_manager_node-10process started with pid [9848] ×2 + 1.72sINFOwaypoint_manager_node-11process started with pid [9849] ×2 + 1.72sINFOmove_joint_resampler_node-12process started with pid [9850] ×2 + 1.72sINFOmove_end_effector_resampler_node-13process started with pid [9851] ×2 + 1.72sINFOobjective_server_node_main-14process started with pid [9852] ×2 + 1.72sINFOcomponent_container_mt-15process started with pid [9853] ×2 + 1.72sINFOexecute_objective_bridge-16process started with pid [9854] ×2 + 1.72sINFOui_teleop_bridge-17process started with pid [9855] ×2 + 1.72sINFOfoxglove_bridge-18process started with pid [9856] ×2 + 1.72sINFOtf2_web_republisher_node-19process started with pid [9857] ×2 + 1.72sINFOweb_video_server-20process started with pid [9978] ×2 + 1.72sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9822] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9823] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9824] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9825] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9829] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9831] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9832] ×2 + 1.74sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.74sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.74sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.74sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.74sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.74sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941723 ms (missed cycles : 6).[0m ×2 + 1.76sINFOcontroller_managerReceived robot description from topic. + 1.76sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.78sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.78sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.92sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.92sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.92sINFOfoxglove_bridgeServer listening on port 3201 + 1.93sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 2.01sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 2.01sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 2.02sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 2.02sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 2.02sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 2.04sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 2.04sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 2.04sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 2.05sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 2.05sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 2.06sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 2.06sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 2.06sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 2.06sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 2.06sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 2.07sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 2.07sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 2.07sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 2.07sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 2.08sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.08sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 2.08sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.08sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.08sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168238 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168238 ms (missed cycles : 4).[0m ×2 + 2.77sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 2.77sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 2.77sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.77sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.77sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.78sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.78sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.78sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.79sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world" + 2.79sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world"[0m ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene" + 2.81sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states" + 2.81sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene"[0m ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states"[0m ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.81sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.82sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.82sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.82sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 2.97sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.06sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.06sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.06sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	47 warnings · 215 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9824] ×2 + 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench" + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.28sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2).[0m ×2 + 0.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9822] ×2 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.51sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] Controller state will be published at 50 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.404] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9829] ×2 + 0.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.95sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781130318.93411541 seconds. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781130318.94430757 seconds ×3 + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 4.96sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 6.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 6.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3
− skipped	—	createvector.xml	0.0s	47 warnings · 215 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9824] ×2 + 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench" + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.28sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2).[0m ×2 + 0.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9822] ×2 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.51sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] Controller state will be published at 50 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.404] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9829] ×2 + 0.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.95sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781130318.93411541 seconds. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781130318.94430757 seconds ×3 + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 4.96sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 6.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 6.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	47 warnings · 215 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9824] ×2 + 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2203.800 us (Expected < 1666.667 us) --> Read time : 326.178 us, Update time : 1355.330 us, Write time : 522.292 us[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench" + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.28sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188211 ms (missed cycles : 2).[0m ×2 + 0.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9822] ×2 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.51sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-06-10 22:25:18.373] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.399] [info] Controller state will be published at 50 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-10 22:25:18.404] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9829] ×2 + 0.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjmt1t9e --params-file /tmp/launch_params_vnl0ecfj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_i0fef6ip --params-file /tmp/launch_params_s6j9c73o [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.95sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 4117.913 us (Expected < 1666.667 us) --> Read time : 229.516 us, Update time : 3336.585 us (Switch time : 3257.604 us (Switch chained mode time : 0.350 us, perform mode change time : 2.460 us, Activation time : 3244.613 us, Deactivation time : 0.310 us)), Write time : 551.812 us[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781130318.93411541 seconds. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781130318.94430757 seconds ×3 + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.21sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 4.96sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 6.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 6.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3
− skipped	—	request_teleoperation.xml	0.0s	42 warnings · 122 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9823] ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770557 ms (missed cycles : 3).[0m ×2 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 1926.724 us (Expected < 1666.667 us) --> Read time : 1307.460 us, Update time : 98.522 us, Write time : 520.742 us[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781130319.52529597 seconds. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.47sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 1.49sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 2.67sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 2.68sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 3.68sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 4.74sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 4.74sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 5.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.08sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 5.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 5.98sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 6.71sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution_jtc.xml	0.0s	45 warnings · 117 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_joint_state.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	move_to_pose.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	48 warnings · 125 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-06-10 22:25:27.520] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-06-10 22:25:27.520] [info] Accepted new action goal ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352972 ms (missed cycles : 4). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352972 ms (missed cycles : 4).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2
− skipped	—	visualize_tf.xml	0.0s	45 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639149 ms (missed cycles : 3).[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 3486.988 us (Expected < 1666.667 us) --> Read time : 293.276 us, Update time : 2737.142 us, Write time : 456.570 us[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781130320.64637089 seconds ×3 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781130321.22972059 seconds. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189084 ms (missed cycles : 5).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2329.233 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1724.519 us, Write time : 459.931 us[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781130322.23988080 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240146 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781130322.79572225 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781130322.81586719 seconds ×3 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 2352.173 us (Expected < 1666.667 us) --> Read time : 255.286 us, Update time : 1399.861 us, Write time : 697.026 us[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781130323.39866447 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781130323.55045819 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229751 ms (missed cycles : 4).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 5824.112 us (Expected < 1666.667 us) --> Read time : 428.230 us, Update time : 123.553 us, Write time : 5272.329 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781130324.18545175 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.68sWARNcontroller_managerOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 4009.141 us (Expected < 1666.667 us) --> Read time : 219.215 us, Update time : 3167.902 us (Switch time : 3115.361 us (Switch chained mode time : 0.440 us, perform mode change time : 5.270 us, Activation time : 3098.120 us, Deactivation time : 0.350 us)), Write time : 622.024 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781130324.22560978 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632319 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781130324.80420828 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8201e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-06-10 22:25:24.945] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 7307.115 us (Expected < 1666.667 us) --> Read time : 283.367 us, Update time : 80.171 us, Write time : 6943.577 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553594 ms (missed cycles : 3).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.85% of iterations over budget over 0:10.002 of wall time (27/3170). Below 1% is expected on a non-realtime system.[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 6993.808 us (Expected < 1666.667 us) --> Read time : 147.723 us, Update time : 6229.891 us, Write time : 616.194 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026926 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 7645.211 us (Expected < 1666.667 us) --> Read time : 260.096 us, Update time : 6882.644 us, Write time : 502.471 us[0m ×2