68
Total objective tests
16
Objectives passed
1
Objectives failed
51
Objectives skipped
23.0s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives1 fail12 pass24 skip
| ✕ failed | Semantic Navigate | semantic_navigate.xml | 3.7s | 6 errors · 54 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3).[0m ×2 + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2). + 7.21sERRORobjective_server_nodeNavigateToPoseAction Error: Action server '//navigate_to_pose' not available. ×3 + 7.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Semantic Navigate` did not succeed at time: 1781204151.57642651 seconds ×3 + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2).[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781204152.23266077 seconds. ×3 + 7.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller_nav2 ×3 + 7.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller_nav2 ] + 7.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 7.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller_nav2 ] + 7.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 7.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 8.07sWARNcontroller_managerOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us + 8.07sWARNros2_control_nodeOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us[0m ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us + 9.20sWARNros2_control_nodeOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2).[0m ×2 + 9.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 9.98sINFOjoint_trajectory_controllerReceived new action goal + 9.98sINFOjoint_trajectory_controllerAccepted new action goal + 9.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 9.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 10.26sWARNcontroller_managerOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us + 10.26sWARNros2_control_nodeOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 69.6s | 3 errors · 372 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878690 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878690 ms (missed cycles : 3).[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 1973.617 us (Expected < 1666.667 us) --> Read time : 353.796 us, Update time : 1153.522 us, Write time : 466.299 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 1973.617 us (Expected < 1666.667 us) --> Read time : 353.796 us, Update time : 1153.522 us, Write time : 466.299 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901485 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901485 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 3127.108 us (Expected < 1666.667 us) --> Read time : 125.742 us, Update time : 131.812 us, Write time : 2869.554 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 3127.108 us (Expected < 1666.667 us) --> Read time : 125.742 us, Update time : 131.812 us, Write time : 2869.554 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702323 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702323 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 1685.921 us (Expected < 1666.667 us) --> Read time : 136.102 us, Update time : 1222.383 us, Write time : 327.436 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 1685.921 us (Expected < 1666.667 us) --> Read time : 136.102 us, Update time : 1222.383 us, Write time : 327.436 us[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585395 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585395 ms (missed cycles : 3).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGot request to cancel goal + 3.56sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.57sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.57sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781204078.25953078 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147517 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147517 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 3291.051 us (Expected < 1666.667 us) --> Read time : 131.043 us, Update time : 2767.421 us, Write time : 392.587 us + 4.14sWARNros2_control_nodeOverrun might occur, Total time : 3291.051 us (Expected < 1666.667 us) --> Read time : 131.043 us, Update time : 2767.421 us, Write time : 392.587 us[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781204078.81405067 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663303 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663303 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 4309.671 us (Expected < 1666.667 us) --> Read time : 136.243 us, Update time : 3800.931 us, Write time : 372.497 us + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 4309.671 us (Expected < 1666.667 us) --> Read time : 136.243 us, Update time : 3800.931 us, Write time : 372.497 us[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.79sINFOjoint_trajectory_controllerReceived new action goal ×4 + 5.79sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 5.79sINFOros2_control_nodeReceived new action goal[0m ×8 + 5.79sINFOros2_control_nodeAccepted new action goal[0m ×8 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737668 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737668 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 5140.114 us (Expected < 1666.667 us) --> Read time : 152.072 us, Update time : 4610.575 us, Write time : 377.467 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5140.114 us (Expected < 1666.667 us) --> Read time : 152.072 us, Update time : 4610.575 us, Write time : 377.467 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929392 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929392 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun might occur, Total time : 5704.726 us (Expected < 1666.667 us) --> Read time : 172.264 us, Update time : 4943.081 us, Write time : 589.381 us + 7.47sWARNros2_control_nodeOverrun might occur, Total time : 5704.726 us (Expected < 1666.667 us) --> Read time : 172.264 us, Update time : 4943.081 us, Write time : 589.381 us[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.201933 ms (missed cycles : 8). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.201933 ms (missed cycles : 8).[0m ×2 + 8.53sWARNcontroller_managerOverrun might occur, Total time : 1706.042 us (Expected < 1666.667 us) --> Read time : 698.403 us, Update time : 166.143 us, Write time : 841.496 us + 8.53sWARNros2_control_nodeOverrun might occur, Total time : 1706.042 us (Expected < 1666.667 us) --> Read time : 698.403 us, Update time : 166.143 us, Write time : 841.496 us[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221486 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221486 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun might occur, Total time : 1800.783 us (Expected < 1666.667 us) --> Read time : 230.104 us, Update time : 1235.253 us, Write time : 335.426 us + 9.69sWARNros2_control_nodeOverrun might occur, Total time : 1800.783 us (Expected < 1666.667 us) --> Read time : 230.104 us, Update time : 1235.253 us, Write time : 335.426 us[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.109296 ms (missed cycles : 8). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.109296 ms (missed cycles : 8).[0m ×2 + 11.30sWARNcontroller_managerOverrun might occur, Total time : 1773.933 us (Expected < 1666.667 us) --> Read time : 138.843 us, Update time : 201.353 us, Write time : 1433.737 us + 11.31sWARNros2_control_nodeOverrun might occur, Total time : 1773.933 us (Expected < 1666.667 us) --> Read time : 138.843 us, Update time : 201.353 us, Write time : 1433.737 us[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273427 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273427 ms (missed cycles : 3).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421016 ms (missed cycles : 4). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421016 ms (missed cycles : 4).[0m ×2 + 13.27sWARNcontroller_managerOverrun might occur, Total time : 3671.188 us (Expected < 1666.667 us) --> Read time : 168.843 us, Update time : 3131.828 us, Write time : 370.517 us + 13.27sWARNros2_control_nodeOverrun might occur, Total time : 3671.188 us (Expected < 1666.667 us) --> Read time : 168.843 us, Update time : 3131.828 us, Write time : 370.517 us[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022108 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022108 ms (missed cycles : 2).[0m ×2 + 14.36sWARNcontroller_managerOverrun might occur, Total time : 3574.826 us (Expected < 1666.667 us) --> Read time : 321.556 us, Update time : 2910.804 us, Write time : 342.466 us + 14.36sWARNros2_control_nodeOverrun might occur, Total time : 3574.826 us (Expected < 1666.667 us) --> Read time : 321.556 us, Update time : 2910.804 us, Write time : 342.466 us[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188665 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188665 ms (missed cycles : 2).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549905 ms (missed cycles : 4). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549905 ms (missed cycles : 4).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539081 ms (missed cycles : 4). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539081 ms (missed cycles : 4).[0m ×2 + 17.29sWARNcontroller_managerOverrun might occur, Total time : 4922.181 us (Expected < 1666.667 us) --> Read time : 119.362 us, Update time : 608.092 us, Write time : 4194.727 us + 17.29sWARNros2_control_nodeOverrun might occur, Total time : 4922.181 us (Expected < 1666.667 us) --> Read time : 119.362 us, Update time : 608.092 us, Write time : 4194.727 us[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622059 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622059 ms (missed cycles : 3).[0m ×2 + 18.41sWARNcontroller_managerOverrun might occur, Total time : 3364.052 us (Expected < 1666.667 us) --> Read time : 245.294 us, Update time : 2814.962 us, Write time : 303.796 us + 18.41sWARNros2_control_nodeOverrun might occur, Total time : 3364.052 us (Expected < 1666.667 us) --> Read time : 245.294 us, Update time : 2814.962 us, Write time : 303.796 us[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663464 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663464 ms (missed cycles : 3).[0m ×2 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946811 ms (missed cycles : 3). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946811 ms (missed cycles : 3).[0m ×2 + 20.41sWARNcontroller_managerOverrun might occur, Total time : 2443.986 us (Expected < 1666.667 us) --> Read time : 127.682 us, Update time : 103.902 us, Write time : 2212.402 us + 20.41sWARNros2_control_nodeOverrun might occur, Total time : 2443.986 us (Expected < 1666.667 us) --> Read time : 127.682 us, Update time : 103.902 us, Write time : 2212.402 us[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445756 ms (missed cycles : 6). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445756 ms (missed cycles : 6).[0m ×2 + 21.66sWARNcontroller_managerOverrun might occur, Total time : 1790.743 us (Expected < 1666.667 us) --> Read time : 175.283 us, Update time : 748.814 us, Write time : 866.646 us + 21.66sWARNros2_control_nodeOverrun might occur, Total time : 1790.743 us (Expected < 1666.667 us) --> Read time : 175.283 us, Update time : 748.814 us, Write time : 866.646 us[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978194 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978194 ms (missed cycles : 2).[0m ×2 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776840 ms (missed cycles : 3). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776840 ms (missed cycles : 3).[0m ×2 + 23.70sWARNcontroller_managerOverrun might occur, Total time : 3176.209 us (Expected < 1666.667 us) --> Read time : 146.802 us, Update time : 284.756 us, Write time : 2744.651 us + 23.70sWARNros2_control_nodeOverrun might occur, Total time : 3176.209 us (Expected < 1666.667 us) --> Read time : 146.802 us, Update time : 284.756 us, Write time : 2744.651 us[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655522 ms (missed cycles : 2). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655522 ms (missed cycles : 2).[0m ×2 + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322501 ms (missed cycles : 2). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322501 ms (missed cycles : 2).[0m ×2 + 25.26sWARNcontroller_managerOverrun might occur, Total time : 3652.448 us (Expected < 1666.667 us) --> Read time : 212.174 us, Update time : 251.074 us, Write time : 3189.200 us + 25.27sWARNros2_control_nodeOverrun might occur, Total time : 3652.448 us (Expected < 1666.667 us) --> Read time : 212.174 us, Update time : 251.074 us, Write time : 3189.200 us[0m ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545130 ms (missed cycles : 2). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545130 ms (missed cycles : 2).[0m ×2 + 26.61sWARNcontroller_managerOverrun might occur, Total time : 3758.640 us (Expected < 1666.667 us) --> Read time : 385.497 us, Update time : 3033.956 us, Write time : 339.187 us + 26.61sWARNros2_control_nodeOverrun might occur, Total time : 3758.640 us (Expected < 1666.667 us) --> Read time : 385.497 us, Update time : 3033.956 us, Write time : 339.187 us[0m ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106606 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106606 ms (missed cycles : 3).[0m ×2 + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975847 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975847 ms (missed cycles : 2).[0m ×2 + 28.53sWARNcontroller_managerOverrun might occur, Total time : 2197.861 us (Expected < 1666.667 us) --> Read time : 153.113 us, Update time : 165.873 us, Write time : 1878.875 us + 28.53sWARNros2_control_nodeOverrun might occur, Total time : 2197.861 us (Expected < 1666.667 us) --> Read time : 153.113 us, Update time : 165.873 us, Write time : 1878.875 us[0m ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013929 ms (missed cycles : 2). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013929 ms (missed cycles : 2).[0m ×2 + 29.83sWARNcontroller_managerOverrun might occur, Total time : 1888.406 us (Expected < 1666.667 us) --> Read time : 142.193 us, Update time : 1332.425 us, Write time : 413.788 us + 29.83sWARNros2_control_nodeOverrun might occur, Total time : 1888.406 us (Expected < 1666.667 us) --> Read time : 142.193 us, Update time : 1332.425 us, Write time : 413.788 us[0m ×2 + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742824 ms (missed cycles : 3). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742824 ms (missed cycles : 3).[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906654 ms (missed cycles : 5). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906654 ms (missed cycles : 5).[0m ×2 + 31.29sWARNcontroller_managerOverrun might occur, Total time : 5426.951 us (Expected < 1666.667 us) --> Read time : 137.802 us, Update time : 4953.762 us, Write time : 335.387 us + 31.29sWARNros2_control_nodeOverrun might occur, Total time : 5426.951 us (Expected < 1666.667 us) --> Read time : 137.802 us, Update time : 4953.762 us, Write time : 335.387 us[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103842 ms (missed cycles : 3). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103842 ms (missed cycles : 3).[0m ×2 + 32.53sWARNcontroller_managerOverrun might occur, Total time : 4289.880 us (Expected < 1666.667 us) --> Read time : 125.263 us, Update time : 309.805 us, Write time : 3854.812 us + 32.53sWARNros2_control_nodeOverrun might occur, Total time : 4289.880 us (Expected < 1666.667 us) --> Read time : 125.263 us, Update time : 309.805 us, Write time : 3854.812 us[0m ×2 + 33.06sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.06sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063262 ms (missed cycles : 3). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063262 ms (missed cycles : 3).[0m ×2 + 33.44sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.02sWARNcontroller_managerOverrun might occur, Total time : 2134.429 us (Expected < 1666.667 us) --> Read time : 235.804 us, Update time : 977.138 us, Write time : 921.487 us + 34.03sWARNros2_control_nodeOverrun might occur, Total time : 2134.429 us (Expected < 1666.667 us) --> Read time : 235.804 us, Update time : 977.138 us, Write time : 921.487 us[0m ×2 + 34.12sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195684 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195684 ms (missed cycles : 2).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886275 ms (missed cycles : 3). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886275 ms (missed cycles : 3).[0m ×2 + 35.63sWARNcontroller_managerOverrun might occur, Total time : 2551.947 us (Expected < 1666.667 us) --> Read time : 237.474 us, Update time : 1957.297 us, Write time : 357.176 us + 35.63sWARNros2_control_nodeOverrun might occur, Total time : 2551.947 us (Expected < 1666.667 us) --> Read time : 237.474 us, Update time : 1957.297 us, Write time : 357.176 us[0m ×2 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.997865 ms (missed cycles : 6). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.997865 ms (missed cycles : 6).[0m ×2 + 36.69sWARNcontroller_managerOverrun might occur, Total time : 1674.271 us (Expected < 1666.667 us) --> Read time : 103.022 us, Update time : 1270.963 us, Write time : 300.286 us + 36.69sWARNros2_control_nodeOverrun might occur, Total time : 1674.271 us (Expected < 1666.667 us) --> Read time : 103.022 us, Update time : 1270.963 us, Write time : 300.286 us[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490140 ms (missed cycles : 3). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490140 ms (missed cycles : 3).[0m ×2 + 37.72sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.77sWARNcontroller_managerOverrun might occur, Total time : 1815.464 us (Expected < 1666.667 us) --> Read time : 298.416 us, Update time : 569.491 us, Write time : 947.557 us + 37.77sWARNros2_control_nodeOverrun might occur, Total time : 1815.464 us (Expected < 1666.667 us) --> Read time : 298.416 us, Update time : 569.491 us, Write time : 947.557 us[0m ×2 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155826 ms (missed cycles : 3). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155826 ms (missed cycles : 3).[0m ×2 + 39.06sWARNcontroller_managerOverrun might occur, Total time : 3735.850 us (Expected < 1666.667 us) --> Read time : 128.503 us, Update time : 3193.119 us, Write time : 414.228 us + 39.07sWARNros2_control_nodeOverrun might occur, Total time : 3735.850 us (Expected < 1666.667 us) --> Read time : 128.503 us, Update time : 3193.119 us, Write time : 414.228 us[0m ×2 + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243741 ms (missed cycles : 2). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243741 ms (missed cycles : 2).[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518543 ms (missed cycles : 3). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518543 ms (missed cycles : 3).[0m ×2 + 41.21sWARNcontroller_managerOverrun might occur, Total time : 1710.772 us (Expected < 1666.667 us) --> Read time : 161.813 us, Update time : 116.202 us, Write time : 1432.757 us + 41.21sWARNros2_control_nodeOverrun might occur, Total time : 1710.772 us (Expected < 1666.667 us) --> Read time : 161.813 us, Update time : 116.202 us, Write time : 1432.757 us[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327609 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327609 ms (missed cycles : 2).[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736335 ms (missed cycles : 2). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736335 ms (missed cycles : 2).[0m ×2 + 43.36sWARNcontroller_managerOverrun might occur, Total time : 2305.613 us (Expected < 1666.667 us) --> Read time : 143.692 us, Update time : 142.313 us, Write time : 2019.608 us + 43.36sWARNros2_control_nodeOverrun might occur, Total time : 2305.613 us (Expected < 1666.667 us) --> Read time : 143.692 us, Update time : 142.313 us, Write time : 2019.608 us[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109650 ms (missed cycles : 3). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109650 ms (missed cycles : 3).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431139 ms (missed cycles : 4). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431139 ms (missed cycles : 4).[0m ×2 + 45.51sWARNcontroller_managerOverrun might occur, Total time : 3480.335 us (Expected < 1666.667 us) --> Read time : 135.713 us, Update time : 2919.544 us, Write time : 425.078 us + 45.51sWARNros2_control_nodeOverrun might occur, Total time : 3480.335 us (Expected < 1666.667 us) --> Read time : 135.713 us, Update time : 2919.544 us, Write time : 425.078 us[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847329 ms (missed cycles : 5). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847329 ms (missed cycles : 5).[0m ×2 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061274 ms (missed cycles : 2). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061274 ms (missed cycles : 2).[0m ×2 + 47.06sWARNcontroller_managerOverrun might occur, Total time : 2730.311 us (Expected < 1666.667 us) --> Read time : 184.844 us, Update time : 2212.061 us, Write time : 333.406 us + 47.06sWARNros2_control_nodeOverrun might occur, Total time : 2730.311 us (Expected < 1666.667 us) --> Read time : 184.844 us, Update time : 2212.061 us, Write time : 333.406 us[0m ×2 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336569 ms (missed cycles : 3). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336569 ms (missed cycles : 3).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315483 ms (missed cycles : 4). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315483 ms (missed cycles : 4).[0m ×2 + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546731 ms (missed cycles : 3). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546731 ms (missed cycles : 3).[0m ×2 + 49.95sWARNcontroller_managerOverrun might occur, Total time : 1701.242 us (Expected < 1666.667 us) --> Read time : 209.684 us, Update time : 135.603 us, Write time : 1355.955 us + 49.96sWARNros2_control_nodeOverrun might occur, Total time : 1701.242 us (Expected < 1666.667 us) --> Read time : 209.684 us, Update time : 135.603 us, Write time : 1355.955 us[0m ×2 + 50.01sINFOobjective_server_nodePlanning for 32 path waypoints. ×6 + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159555 ms (missed cycles : 2). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159555 ms (missed cycles : 2).[0m ×2 + 51.47sWARNcontroller_managerOverrun might occur, Total time : 4906.041 us (Expected < 1666.667 us) --> Read time : 124.112 us, Update time : 4402.452 us, Write time : 379.477 us + 51.47sWARNros2_control_nodeOverrun might occur, Total time : 4906.041 us (Expected < 1666.667 us) --> Read time : 124.112 us, Update time : 4402.452 us, Write time : 379.477 us[0m ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177905 ms (missed cycles : 2). + 52.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177905 ms (missed cycles : 2).[0m ×2 + 53.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733257 ms (missed cycles : 3). + 53.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733257 ms (missed cycles : 3).[0m ×2 + 53.06sWARNcontroller_managerOverrun might occur, Total time : 1817.184 us (Expected < 1666.667 us) --> Read time : 121.953 us, Update time : 1382.076 us, Write time : 313.155 us + 53.06sWARNros2_control_nodeOverrun might occur, Total time : 1817.184 us (Expected < 1666.667 us) --> Read time : 121.953 us, Update time : 1382.076 us, Write time : 313.155 us[0m ×2 + 54.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447474 ms (missed cycles : 2). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447474 ms (missed cycles : 2).[0m ×2 + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533493 ms (missed cycles : 2). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533493 ms (missed cycles : 2).[0m ×2 + 55.13sWARNcontroller_managerOverrun might occur, Total time : 3403.593 us (Expected < 1666.667 us) --> Read time : 169.273 us, Update time : 216.464 us, Write time : 3017.856 us + 55.13sWARNros2_control_nodeOverrun might occur, Total time : 3403.593 us (Expected < 1666.667 us) --> Read time : 169.273 us, Update time : 216.464 us, Write time : 3017.856 us[0m ×2 + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.497402 ms (missed cycles : 6). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.497402 ms (missed cycles : 6).[0m ×2 + 56.47sWARNcontroller_managerOverrun might occur, Total time : 2103.649 us (Expected < 1666.667 us) --> Read time : 137.502 us, Update time : 1635.191 us, Write time : 330.956 us + 56.47sWARNros2_control_nodeOverrun might occur, Total time : 2103.649 us (Expected < 1666.667 us) --> Read time : 137.502 us, Update time : 1635.191 us, Write time : 330.956 us[0m ×2 + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627536 ms (missed cycles : 4). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627536 ms (missed cycles : 4).[0m ×2 + 57.71sWARNcontroller_managerOverrun might occur, Total time : 8220.413 us (Expected < 1666.667 us) --> Read time : 154.263 us, Update time : 144.033 us, Write time : 7922.117 us + 57.71sWARNros2_control_nodeOverrun might occur, Total time : 8220.413 us (Expected < 1666.667 us) --> Read time : 154.263 us, Update time : 144.033 us, Write time : 7922.117 us[0m ×2 + 58.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392066 ms (missed cycles : 4). + 58.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392066 ms (missed cycles : 4).[0m ×2 + 59.39sWARNcontroller_managerOverrun might occur, Total time : 5456.170 us (Expected < 1666.667 us) --> Read time : 193.413 us, Update time : 4902.541 us, Write time : 360.216 us + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937812 ms (missed cycles : 4). + 59.39sWARNros2_control_nodeOverrun might occur, Total time : 5456.170 us (Expected < 1666.667 us) --> Read time : 193.413 us, Update time : 4902.541 us, Write time : 360.216 us[0m ×2 + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937812 ms (missed cycles : 4).[0m ×2 + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654305 ms (missed cycles : 3). + 60.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654305 ms (missed cycles : 3).[0m ×2 + 60.63sWARNcontroller_managerOverrun might occur, Total time : 8664.591 us (Expected < 1666.667 us) --> Read time : 145.203 us, Update time : 7954.507 us, Write time : 564.881 us + 60.63sWARNros2_control_nodeOverrun might occur, Total time : 8664.591 us (Expected < 1666.667 us) --> Read time : 145.203 us, Update time : 7954.507 us, Write time : 564.881 us[0m ×2 + 61.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806549 ms (missed cycles : 3). + 61.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806549 ms (missed cycles : 3).[0m ×2 + 62.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789636 ms (missed cycles : 3). + 62.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789636 ms (missed cycles : 3).[0m ×2 + 63.23sWARNcontroller_managerOverrun might occur, Total time : 1710.082 us (Expected < 1666.667 us) --> Read time : 702.523 us, Update time : 119.192 us, Write time : 888.367 us + 63.24sWARNros2_control_nodeOverrun might occur, Total time : 1710.082 us (Expected < 1666.667 us) --> Read time : 702.523 us, Update time : 119.192 us, Write time : 888.367 us[0m ×2 + 63.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152362 ms (missed cycles : 7). + 63.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152362 ms (missed cycles : 7).[0m ×2 + 64.53sWARNcontroller_managerOverrun might occur, Total time : 3717.849 us (Expected < 1666.667 us) --> Read time : 164.773 us, Update time : 3153.869 us, Write time : 399.207 us + 64.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023503 ms (missed cycles : 3). + 64.54sWARNros2_control_nodeOverrun might occur, Total time : 3717.849 us (Expected < 1666.667 us) --> Read time : 164.773 us, Update time : 3153.869 us, Write time : 399.207 us[0m ×2 + 64.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023503 ms (missed cycles : 3).[0m ×2 + 65.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436516 ms (missed cycles : 2). + 65.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436516 ms (missed cycles : 2).[0m ×2 + 65.84sWARNcontroller_managerOverrun might occur, Total time : 2282.573 us (Expected < 1666.667 us) --> Read time : 252.575 us, Update time : 1517.618 us, Write time : 512.380 us + 65.84sWARNros2_control_nodeOverrun might occur, Total time : 2282.573 us (Expected < 1666.667 us) --> Read time : 252.575 us, Update time : 1517.618 us, Write time : 512.380 us[0m ×2 + 66.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316911 ms (missed cycles : 3). + 66.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316911 ms (missed cycles : 3).[0m ×2 + 67.29sWARNcontroller_managerOverrun might occur, Total time : 5111.965 us (Expected < 1666.667 us) --> Read time : 134.193 us, Update time : 4613.835 us, Write time : 363.937 us + 67.29sWARNros2_control_nodeOverrun might occur, Total time : 5111.965 us (Expected < 1666.667 us) --> Read time : 134.193 us, Update time : 4613.835 us, Write time : 363.937 us[0m ×2 + 67.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490902 ms (missed cycles : 3). + 67.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490902 ms (missed cycles : 3).[0m ×2 + 68.33sWARNcontroller_managerOverrun might occur, Total time : 2260.842 us (Expected < 1666.667 us) --> Read time : 178.823 us, Update time : 1682.732 us, Write time : 399.287 us + 68.33sWARNros2_control_nodeOverrun might occur, Total time : 2260.842 us (Expected < 1666.667 us) --> Read time : 178.823 us, Update time : 1682.732 us, Write time : 399.287 us[0m ×2 + 68.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716856 ms (missed cycles : 2). + 68.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716856 ms (missed cycles : 2).[0m ×2 + 69.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5). + 69.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5).[0m ×2 + 70.13sWARNcontroller_managerOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us + 70.14sWARNros2_control_nodeOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us[0m ×2 + 70.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3). + 70.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3).[0m ×2 + 71.29sWARNcontroller_managerOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us + 71.29sWARNros2_control_nodeOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us[0m ×2 + 71.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2). + 71.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2).[0m ×2 + 72.64sWARNcontroller_managerOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us + 72.64sWARNros2_control_nodeOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us[0m ×2 + 72.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3). + 72.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3).[0m ×2 + 73.22sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 73.72sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 73.72sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 73.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 73.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 73.77sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 73.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 73.83sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 73.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 73.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 73.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 73.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 73.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 73.84sINFOcontroller_managerSuccessfully switched controllers! + 73.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 73.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 73.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 73.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 74.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 74.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 75.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 75.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 75.88sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 75.89sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 309 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781203915.75356150 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781203916.29111409 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us + 0.72sWARNros2_control_nodeOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us[0m ×2 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (2.7071e-05 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.51sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.51sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.51sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.51sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6).[0m ×2 + 1.81sWARNcontroller_managerOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us + 1.81sWARNros2_control_nodeOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us + 3.09sWARNros2_control_nodeOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781203919.36127138 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185595 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185595 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781203919.91142368 seconds. ×3 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 1775.713 us (Expected < 1666.667 us) --> Read time : 134.783 us, Update time : 1186.422 us, Write time : 454.508 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 1775.713 us (Expected < 1666.667 us) --> Read time : 134.783 us, Update time : 1186.422 us, Write time : 454.508 us[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160775 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160775 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773037 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773037 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1669.601 us (Expected < 1666.667 us) --> Read time : 756.294 us, Update time : 204.154 us, Write time : 709.153 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1669.601 us (Expected < 1666.667 us) --> Read time : 756.294 us, Update time : 204.154 us, Write time : 709.153 us[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896848 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896848 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun might occur, Total time : 2052.998 us (Expected < 1666.667 us) --> Read time : 208.214 us, Update time : 420.728 us, Write time : 1424.056 us + 7.59sWARNros2_control_nodeOverrun might occur, Total time : 2052.998 us (Expected < 1666.667 us) --> Read time : 208.214 us, Update time : 420.728 us, Write time : 1424.056 us[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534570 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534570 ms (missed cycles : 2).[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131839 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131839 ms (missed cycles : 3).[0m ×2 + 9.26sWARNcontroller_managerOverrun might occur, Total time : 3553.347 us (Expected < 1666.667 us) --> Read time : 164.644 us, Update time : 2964.145 us, Write time : 424.558 us + 9.26sWARNros2_control_nodeOverrun might occur, Total time : 3553.347 us (Expected < 1666.667 us) --> Read time : 164.644 us, Update time : 2964.145 us, Write time : 424.558 us[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721385 ms (missed cycles : 6). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721385 ms (missed cycles : 6).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782706 ms (missed cycles : 6). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782706 ms (missed cycles : 6).[0m ×2 + 11.92sWARNcontroller_managerOverrun might occur, Total time : 2240.452 us (Expected < 1666.667 us) --> Read time : 148.232 us, Update time : 1660.752 us, Write time : 431.468 us + 11.92sWARNros2_control_nodeOverrun might occur, Total time : 2240.452 us (Expected < 1666.667 us) --> Read time : 148.232 us, Update time : 1660.752 us, Write time : 431.468 us[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014246 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014246 ms (missed cycles : 2).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519484 ms (missed cycles : 4). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519484 ms (missed cycles : 4).[0m ×2 + 13.70sWARNcontroller_managerOverrun might occur, Total time : 8672.692 us (Expected < 1666.667 us) --> Read time : 167.863 us, Update time : 80.841 us, Write time : 8423.988 us + 13.70sWARNros2_control_nodeOverrun might occur, Total time : 8672.692 us (Expected < 1666.667 us) --> Read time : 167.863 us, Update time : 80.841 us, Write time : 8423.988 us[0m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950615 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950615 ms (missed cycles : 3).[0m ×2 + 14.96sWARNcontroller_managerOverrun might occur, Total time : 1686.232 us (Expected < 1666.667 us) --> Read time : 304.516 us, Update time : 1073.410 us, Write time : 308.306 us + 14.96sWARNros2_control_nodeOverrun might occur, Total time : 1686.232 us (Expected < 1666.667 us) --> Read time : 304.516 us, Update time : 1073.410 us, Write time : 308.306 us[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612662 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612662 ms (missed cycles : 4).[0m ×2 + 16.36sWARNcontroller_managerOverrun might occur, Total time : 2198.512 us (Expected < 1666.667 us) --> Read time : 477.509 us, Update time : 1378.386 us, Write time : 342.617 us + 16.36sWARNros2_control_nodeOverrun might occur, Total time : 2198.512 us (Expected < 1666.667 us) --> Read time : 477.509 us, Update time : 1378.386 us, Write time : 342.617 us[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912386 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912386 ms (missed cycles : 2).[0m ×2 + 16.64sINFOros2_control_nodeMuJoCo sim: 0.69% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089975 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089975 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun might occur, Total time : 2315.784 us (Expected < 1666.667 us) --> Read time : 119.752 us, Update time : 1783.054 us, Write time : 412.978 us + 18.16sWARNros2_control_nodeOverrun might occur, Total time : 2315.784 us (Expected < 1666.667 us) --> Read time : 119.752 us, Update time : 1783.054 us, Write time : 412.978 us[0m ×2 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889357 ms (missed cycles : 3). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889357 ms (missed cycles : 3).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053213 ms (missed cycles : 5). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053213 ms (missed cycles : 5).[0m ×2 + 20.20sWARNcontroller_managerOverrun might occur, Total time : 7281.606 us (Expected < 1666.667 us) --> Read time : 6621.904 us, Update time : 159.303 us, Write time : 500.399 us + 20.20sWARNros2_control_nodeOverrun might occur, Total time : 7281.606 us (Expected < 1666.667 us) --> Read time : 6621.904 us, Update time : 159.303 us, Write time : 500.399 us[0m ×2 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738899 ms (missed cycles : 2). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738899 ms (missed cycles : 2).[0m ×2 + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.188762 ms (missed cycles : 5). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.188762 ms (missed cycles : 5).[0m ×2 + 22.06sWARNcontroller_managerOverrun might occur, Total time : 1748.773 us (Expected < 1666.667 us) --> Read time : 172.833 us, Update time : 1231.193 us, Write time : 344.747 us + 22.06sWARNros2_control_nodeOverrun might occur, Total time : 1748.773 us (Expected < 1666.667 us) --> Read time : 172.833 us, Update time : 1231.193 us, Write time : 344.747 us[0m ×2 + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749603 ms (missed cycles : 2). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749603 ms (missed cycles : 2).[0m ×2 + 23.45sWARNcontroller_managerOverrun might occur, Total time : 4669.988 us (Expected < 1666.667 us) --> Read time : 137.593 us, Update time : 128.792 us, Write time : 4403.603 us + 23.46sWARNros2_control_nodeOverrun might occur, Total time : 4669.988 us (Expected < 1666.667 us) --> Read time : 137.593 us, Update time : 128.792 us, Write time : 4403.603 us[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820989 ms (missed cycles : 2). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820989 ms (missed cycles : 2).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947352 ms (missed cycles : 5). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947352 ms (missed cycles : 5).[0m ×2 + 25.04sWARNcontroller_managerOverrun might occur, Total time : 5497.893 us (Expected < 1666.667 us) --> Read time : 129.402 us, Update time : 4960.783 us, Write time : 407.708 us + 25.04sWARNros2_control_nodeOverrun might occur, Total time : 5497.893 us (Expected < 1666.667 us) --> Read time : 129.402 us, Update time : 4960.783 us, Write time : 407.708 us[0m ×2 + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765296 ms (missed cycles : 5). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765296 ms (missed cycles : 5).[0m ×2 + 26.79sWARNcontroller_managerOverrun might occur, Total time : 4642.347 us (Expected < 1666.667 us) --> Read time : 123.703 us, Update time : 357.356 us, Write time : 4161.288 us + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861831 ms (missed cycles : 3). + 26.79sWARNros2_control_nodeOverrun might occur, Total time : 4642.347 us (Expected < 1666.667 us) --> Read time : 123.703 us, Update time : 357.356 us, Write time : 4161.288 us[0m ×2 + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861831 ms (missed cycles : 3).[0m ×2 + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972963 ms (missed cycles : 2). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972963 ms (missed cycles : 2).[0m ×2 + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203375 ms (missed cycles : 2). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203375 ms (missed cycles : 2).[0m ×2 + 29.56sWARNcontroller_managerOverrun might occur, Total time : 3404.554 us (Expected < 1666.667 us) --> Read time : 153.303 us, Update time : 2888.094 us, Write time : 363.157 us + 29.56sWARNros2_control_nodeOverrun might occur, Total time : 3404.554 us (Expected < 1666.667 us) --> Read time : 153.303 us, Update time : 2888.094 us, Write time : 363.157 us[0m ×2 + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128713 ms (missed cycles : 4). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128713 ms (missed cycles : 4).[0m ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294388 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294388 ms (missed cycles : 2).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072954 ms (missed cycles : 2). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072954 ms (missed cycles : 2).[0m ×2 + 32.38sWARNcontroller_managerOverrun might occur, Total time : 1774.033 us (Expected < 1666.667 us) --> Read time : 171.553 us, Update time : 1216.063 us, Write time : 386.417 us + 32.39sWARNros2_control_nodeOverrun might occur, Total time : 1774.033 us (Expected < 1666.667 us) --> Read time : 171.553 us, Update time : 1216.063 us, Write time : 386.417 us[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997250 ms (missed cycles : 2). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997250 ms (missed cycles : 2).[0m ×2 + 33.49sWARNcontroller_managerOverrun might occur, Total time : 1784.053 us (Expected < 1666.667 us) --> Read time : 178.543 us, Update time : 1277.304 us, Write time : 328.206 us + 33.50sWARNros2_control_nodeOverrun might occur, Total time : 1784.053 us (Expected < 1666.667 us) --> Read time : 178.543 us, Update time : 1277.304 us, Write time : 328.206 us[0m ×2 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721750 ms (missed cycles : 3). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721750 ms (missed cycles : 3).[0m ×2 + 34.57sWARNcontroller_managerOverrun might occur, Total time : 3584.967 us (Expected < 1666.667 us) --> Read time : 167.583 us, Update time : 3095.108 us, Write time : 322.276 us + 34.57sWARNros2_control_nodeOverrun might occur, Total time : 3584.967 us (Expected < 1666.667 us) --> Read time : 167.583 us, Update time : 3095.108 us, Write time : 322.276 us[0m ×2 + 34.83sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771484 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771484 ms (missed cycles : 3).[0m ×2 + 35.76sWARNcontroller_managerOverrun might occur, Total time : 2562.627 us (Expected < 1666.667 us) --> Read time : 208.004 us, Update time : 1834.834 us, Write time : 519.789 us + 35.76sWARNros2_control_nodeOverrun might occur, Total time : 2562.627 us (Expected < 1666.667 us) --> Read time : 208.004 us, Update time : 1834.834 us, Write time : 519.789 us[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842833 ms (missed cycles : 2). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842833 ms (missed cycles : 2).[0m ×2 + 36.77sWARNcontroller_managerOverrun might occur, Total time : 3227.550 us (Expected < 1666.667 us) --> Read time : 238.684 us, Update time : 2615.889 us, Write time : 372.977 us + 36.78sWARNros2_control_nodeOverrun might occur, Total time : 3227.550 us (Expected < 1666.667 us) --> Read time : 238.684 us, Update time : 2615.889 us, Write time : 372.977 us[0m ×2 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668246 ms (missed cycles : 3). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668246 ms (missed cycles : 3).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302885 ms (missed cycles : 3). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302885 ms (missed cycles : 3).[0m ×2 + 38.54sWARNcontroller_managerOverrun might occur, Total time : 4474.294 us (Expected < 1666.667 us) --> Read time : 135.523 us, Update time : 3906.333 us, Write time : 432.438 us + 38.54sWARNros2_control_nodeOverrun might occur, Total time : 4474.294 us (Expected < 1666.667 us) --> Read time : 135.523 us, Update time : 3906.333 us, Write time : 432.438 us[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144301 ms (missed cycles : 4). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144301 ms (missed cycles : 4).[0m ×2 + 39.70sWARNcontroller_managerOverrun might occur, Total time : 2299.183 us (Expected < 1666.667 us) --> Read time : 193.834 us, Update time : 1710.212 us, Write time : 395.137 us + 39.70sWARNros2_control_nodeOverrun might occur, Total time : 2299.183 us (Expected < 1666.667 us) --> Read time : 193.834 us, Update time : 1710.212 us, Write time : 395.137 us[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731524 ms (missed cycles : 3). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731524 ms (missed cycles : 3).[0m ×2 + 40.86sWARNcontroller_managerOverrun might occur, Total time : 1887.415 us (Expected < 1666.667 us) --> Read time : 290.875 us, Update time : 1331.975 us, Write time : 264.565 us + 40.86sWARNros2_control_nodeOverrun might occur, Total time : 1887.415 us (Expected < 1666.667 us) --> Read time : 290.875 us, Update time : 1331.975 us, Write time : 264.565 us[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890262 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890262 ms (missed cycles : 2).[0m ×2 + 42.24sWARNcontroller_managerOverrun might occur, Total time : 3973.184 us (Expected < 1666.667 us) --> Read time : 345.077 us, Update time : 3200.259 us, Write time : 427.848 us + 42.24sWARNros2_control_nodeOverrun might occur, Total time : 3973.184 us (Expected < 1666.667 us) --> Read time : 345.077 us, Update time : 3200.259 us, Write time : 427.848 us[0m ×2 + 42.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535597 ms (missed cycles : 6). + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535597 ms (missed cycles : 6).[0m ×2 + 43.27sWARNcontroller_managerOverrun might occur, Total time : 2531.628 us (Expected < 1666.667 us) --> Read time : 196.104 us, Update time : 2011.158 us, Write time : 324.366 us + 43.27sWARNros2_control_nodeOverrun might occur, Total time : 2531.628 us (Expected < 1666.667 us) --> Read time : 196.104 us, Update time : 2011.158 us, Write time : 324.366 us[0m ×2 + 43.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.153583 ms (missed cycles : 8). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.153583 ms (missed cycles : 8).[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925726 ms (missed cycles : 3). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925726 ms (missed cycles : 3).[0m ×2 + 44.71sWARNcontroller_managerOverrun might occur, Total time : 3723.239 us (Expected < 1666.667 us) --> Read time : 197.063 us, Update time : 87.772 us, Write time : 3438.404 us + 44.72sWARNros2_control_nodeOverrun might occur, Total time : 3723.239 us (Expected < 1666.667 us) --> Read time : 197.063 us, Update time : 87.772 us, Write time : 3438.404 us[0m ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439440 ms (missed cycles : 4). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439440 ms (missed cycles : 4).[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859006 ms (missed cycles : 2). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859006 ms (missed cycles : 2).[0m ×2 + 46.51sWARNcontroller_managerOverrun might occur, Total time : 2350.754 us (Expected < 1666.667 us) --> Read time : 149.532 us, Update time : 1626.631 us, Write time : 574.591 us + 46.51sWARNros2_control_nodeOverrun might occur, Total time : 2350.754 us (Expected < 1666.667 us) --> Read time : 149.532 us, Update time : 1626.631 us, Write time : 574.591 us[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676995 ms (missed cycles : 2). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676995 ms (missed cycles : 2).[0m ×2 + 47.51sWARNcontroller_managerOverrun might occur, Total time : 5278.718 us (Expected < 1666.667 us) --> Read time : 161.613 us, Update time : 4723.408 us, Write time : 393.697 us + 47.51sWARNros2_control_nodeOverrun might occur, Total time : 5278.718 us (Expected < 1666.667 us) --> Read time : 161.613 us, Update time : 4723.408 us, Write time : 393.697 us[0m ×2 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067545 ms (missed cycles : 2). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067545 ms (missed cycles : 2).[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715285 ms (missed cycles : 2). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715285 ms (missed cycles : 2).[0m ×2 + 50.24sWARNcontroller_managerOverrun might occur, Total time : 3337.072 us (Expected < 1666.667 us) --> Read time : 207.004 us, Update time : 2683.870 us, Write time : 446.198 us + 50.24sWARNros2_control_nodeOverrun might occur, Total time : 3337.072 us (Expected < 1666.667 us) --> Read time : 207.004 us, Update time : 2683.870 us, Write time : 446.198 us[0m ×2 + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669935 ms (missed cycles : 3). + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669935 ms (missed cycles : 3).[0m ×2 + 51.27sWARNcontroller_managerOverrun might occur, Total time : 2387.965 us (Expected < 1666.667 us) --> Read time : 531.890 us, Update time : 937.407 us, Write time : 918.668 us + 51.27sWARNros2_control_nodeOverrun might occur, Total time : 2387.965 us (Expected < 1666.667 us) --> Read time : 531.890 us, Update time : 937.407 us, Write time : 918.668 us[0m ×2 + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691467 ms (missed cycles : 3). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691467 ms (missed cycles : 3).[0m ×2 + 52.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423097 ms (missed cycles : 4). + 52.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423097 ms (missed cycles : 4).[0m ×2 + 53.62sWARNcontroller_managerOverrun might occur, Total time : 6335.698 us (Expected < 1666.667 us) --> Read time : 127.162 us, Update time : 5812.689 us, Write time : 395.847 us + 53.62sWARNros2_control_nodeOverrun might occur, Total time : 6335.698 us (Expected < 1666.667 us) --> Read time : 127.162 us, Update time : 5812.689 us, Write time : 395.847 us[0m ×2 + 53.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771184 ms (missed cycles : 2). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771184 ms (missed cycles : 2).[0m ×2 + 54.76sWARNcontroller_managerOverrun might occur, Total time : 3038.557 us (Expected < 1666.667 us) --> Read time : 468.209 us, Update time : 240.594 us, Write time : 2329.754 us + 54.76sWARNros2_control_nodeOverrun might occur, Total time : 3038.557 us (Expected < 1666.667 us) --> Read time : 468.209 us, Update time : 240.594 us, Write time : 2329.754 us[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802237 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802237 ms (missed cycles : 2).[0m ×2 + 55.85sWARNcontroller_managerOverrun might occur, Total time : 3980.295 us (Expected < 1666.667 us) --> Read time : 117.242 us, Update time : 3487.716 us, Write time : 375.337 us + 55.85sWARNros2_control_nodeOverrun might occur, Total time : 3980.295 us (Expected < 1666.667 us) --> Read time : 117.242 us, Update time : 3487.716 us, Write time : 375.337 us[0m ×2 + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016836 ms (missed cycles : 2). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016836 ms (missed cycles : 2).[0m ×2 + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166318 ms (missed cycles : 2). + 56.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166318 ms (missed cycles : 2).[0m ×2 + 56.97sWARNcontroller_managerOverrun might occur, Total time : 4095.646 us (Expected < 1666.667 us) --> Read time : 122.322 us, Update time : 3455.725 us, Write time : 517.599 us + 56.97sWARNros2_control_nodeOverrun might occur, Total time : 4095.646 us (Expected < 1666.667 us) --> Read time : 122.322 us, Update time : 3455.725 us, Write time : 517.599 us[0m ×2 + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3).[0m ×2 + 58.14sWARNcontroller_managerOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us + 58.14sWARNros2_control_nodeOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us[0m ×2 + 58.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6). + 58.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6).[0m ×2 + 59.72sWARNcontroller_managerOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us + 59.73sWARNros2_control_nodeOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us[0m ×2 + 60.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4).[0m ×2 + 60.77sWARNcontroller_managerOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us + 60.77sWARNros2_control_nodeOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us[0m ×2 + 60.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203976.61155295 seconds ×3 + 61.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3). + 61.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3).[0m ×2 + 61.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203977.16887641 seconds. ×3 + 61.76sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 61.78sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2). + 62.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2).[0m ×2 + 62.14sWARNcontroller_managerOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us + 62.14sWARNros2_control_nodeOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us[0m ×2 + 63.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 63.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 63.58sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 63.58sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.9s | 6 errors · 321 warnings · 115 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 0.02sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 0.52sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 0.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 0.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2). + 3.70sERRORobjective_server_nodeNavigateToPoseAction Error: Action server '//navigate_to_pose' not available. ×3 + 3.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Semantic Navigate` did not succeed at time: 1781204151.57642651 seconds ×3 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781204152.23266077 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller_nav2 ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us + 4.56sWARNros2_control_nodeOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.48sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.48sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426654 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426654 ms (missed cycles : 3).[0m ×2 + 7.99sWARNcontroller_managerOverrun might occur, Total time : 1670.161 us (Expected < 1666.667 us) --> Read time : 228.015 us, Update time : 1086.770 us, Write time : 355.376 us + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928391 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun might occur, Total time : 1670.161 us (Expected < 1666.667 us) --> Read time : 228.015 us, Update time : 1086.770 us, Write time : 355.376 us[0m ×2 + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928391 ms (missed cycles : 2).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167704 ms (missed cycles : 5). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167704 ms (missed cycles : 5).[0m ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216407 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216407 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun might occur, Total time : 5352.979 us (Expected < 1666.667 us) --> Read time : 133.222 us, Update time : 4689.457 us, Write time : 530.300 us + 10.45sWARNros2_control_nodeOverrun might occur, Total time : 5352.979 us (Expected < 1666.667 us) --> Read time : 133.222 us, Update time : 4689.457 us, Write time : 530.300 us[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327537 ms (missed cycles : 5). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327537 ms (missed cycles : 5).[0m ×2 + 11.73sWARNcontroller_managerOverrun might occur, Total time : 3874.092 us (Expected < 1666.667 us) --> Read time : 126.893 us, Update time : 3373.062 us, Write time : 374.137 us + 11.73sWARNros2_control_nodeOverrun might occur, Total time : 3874.092 us (Expected < 1666.667 us) --> Read time : 126.893 us, Update time : 3373.062 us, Write time : 374.137 us[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601391 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601391 ms (missed cycles : 3).[0m ×2 + 13.25sWARNcontroller_managerOverrun might occur, Total time : 2054.978 us (Expected < 1666.667 us) --> Read time : 203.284 us, Update time : 1492.248 us, Write time : 359.446 us + 13.25sWARNros2_control_nodeOverrun might occur, Total time : 2054.978 us (Expected < 1666.667 us) --> Read time : 203.284 us, Update time : 1492.248 us, Write time : 359.446 us[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052357 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052357 ms (missed cycles : 2).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433407 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433407 ms (missed cycles : 2).[0m ×2 + 14.37sWARNcontroller_managerOverrun might occur, Total time : 4144.807 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 3529.275 us, Write time : 480.149 us + 14.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.807 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 3529.275 us, Write time : 480.149 us[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274763 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274763 ms (missed cycles : 3).[0m ×2 + 15.77sWARNcontroller_managerOverrun might occur, Total time : 3554.846 us (Expected < 1666.667 us) --> Read time : 138.013 us, Update time : 3065.397 us, Write time : 351.436 us + 15.78sWARNros2_control_nodeOverrun might occur, Total time : 3554.846 us (Expected < 1666.667 us) --> Read time : 138.013 us, Update time : 3065.397 us, Write time : 351.436 us[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674555 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674555 ms (missed cycles : 3).[0m ×2 + 16.97sWARNcontroller_managerOverrun might occur, Total time : 2493.536 us (Expected < 1666.667 us) --> Read time : 176.433 us, Update time : 1949.296 us, Write time : 367.807 us + 16.97sWARNros2_control_nodeOverrun might occur, Total time : 2493.536 us (Expected < 1666.667 us) --> Read time : 176.433 us, Update time : 1949.296 us, Write time : 367.807 us[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720475 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720475 ms (missed cycles : 2).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663528 ms (missed cycles : 3). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663528 ms (missed cycles : 3).[0m ×2 + 18.88sWARNcontroller_managerOverrun might occur, Total time : 3549.775 us (Expected < 1666.667 us) --> Read time : 154.052 us, Update time : 135.923 us, Write time : 3259.800 us + 18.88sWARNros2_control_nodeOverrun might occur, Total time : 3549.775 us (Expected < 1666.667 us) --> Read time : 154.052 us, Update time : 135.923 us, Write time : 3259.800 us[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550053 ms (missed cycles : 7). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550053 ms (missed cycles : 7).[0m ×2 + 20.39sWARNcontroller_managerOverrun might occur, Total time : 1986.627 us (Expected < 1666.667 us) --> Read time : 245.084 us, Update time : 1088.171 us, Write time : 653.372 us + 20.39sWARNros2_control_nodeOverrun might occur, Total time : 1986.627 us (Expected < 1666.667 us) --> Read time : 245.084 us, Update time : 1088.171 us, Write time : 653.372 us[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893349 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893349 ms (missed cycles : 2).[0m ×2 + 21.59sWARNcontroller_managerOverrun might occur, Total time : 2846.773 us (Expected < 1666.667 us) --> Read time : 2390.504 us, Update time : 151.353 us, Write time : 304.916 us + 21.59sWARNros2_control_nodeOverrun might occur, Total time : 2846.773 us (Expected < 1666.667 us) --> Read time : 2390.504 us, Update time : 151.353 us, Write time : 304.916 us[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664170 ms (missed cycles : 4). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664170 ms (missed cycles : 4).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357850 ms (missed cycles : 3). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357850 ms (missed cycles : 3).[0m ×2 + 22.96sWARNcontroller_managerOverrun might occur, Total time : 1985.596 us (Expected < 1666.667 us) --> Read time : 119.592 us, Update time : 116.532 us, Write time : 1749.472 us + 22.97sWARNros2_control_nodeOverrun might occur, Total time : 1985.596 us (Expected < 1666.667 us) --> Read time : 119.592 us, Update time : 116.532 us, Write time : 1749.472 us[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.522083 ms (missed cycles : 6). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.522083 ms (missed cycles : 6).[0m ×2 + 24.15sWARNcontroller_managerOverrun might occur, Total time : 1744.092 us (Expected < 1666.667 us) --> Read time : 131.482 us, Update time : 1273.374 us, Write time : 339.236 us + 24.16sWARNros2_control_nodeOverrun might occur, Total time : 1744.092 us (Expected < 1666.667 us) --> Read time : 131.482 us, Update time : 1273.374 us, Write time : 339.236 us[0m ×2 + 24.53sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338645 ms (missed cycles : 2). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338645 ms (missed cycles : 2).[0m ×2 + 25.47sWARNcontroller_managerOverrun might occur, Total time : 3479.446 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 134.123 us, Write time : 3193.420 us + 25.47sWARNros2_control_nodeOverrun might occur, Total time : 3479.446 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 134.123 us, Write time : 3193.420 us[0m ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133082 ms (missed cycles : 2). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133082 ms (missed cycles : 2).[0m ×2 + 26.88sWARNcontroller_managerOverrun might occur, Total time : 6137.563 us (Expected < 1666.667 us) --> Read time : 230.554 us, Update time : 149.243 us, Write time : 5757.766 us + 26.88sWARNros2_control_nodeOverrun might occur, Total time : 6137.563 us (Expected < 1666.667 us) --> Read time : 230.554 us, Update time : 149.243 us, Write time : 5757.766 us[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309873 ms (missed cycles : 4). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309873 ms (missed cycles : 4).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853033 ms (missed cycles : 3). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853033 ms (missed cycles : 3).[0m ×2 + 28.69sWARNcontroller_managerOverrun might occur, Total time : 2776.492 us (Expected < 1666.667 us) --> Read time : 113.822 us, Update time : 2143.120 us, Write time : 519.550 us + 28.69sWARNros2_control_nodeOverrun might occur, Total time : 2776.492 us (Expected < 1666.667 us) --> Read time : 113.822 us, Update time : 2143.120 us, Write time : 519.550 us[0m ×2 + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093360 ms (missed cycles : 3). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093360 ms (missed cycles : 3).[0m ×2 + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842738 ms (missed cycles : 4). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842738 ms (missed cycles : 4).[0m ×2 + 30.64sWARNcontroller_managerOverrun might occur, Total time : 4067.376 us (Expected < 1666.667 us) --> Read time : 3300.082 us, Update time : 192.113 us, Write time : 575.181 us + 30.64sWARNros2_control_nodeOverrun might occur, Total time : 4067.376 us (Expected < 1666.667 us) --> Read time : 3300.082 us, Update time : 192.113 us, Write time : 575.181 us[0m ×2 + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877664 ms (missed cycles : 3). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877664 ms (missed cycles : 3).[0m ×2 + 31.89sWARNcontroller_managerOverrun might occur, Total time : 3263.190 us (Expected < 1666.667 us) --> Read time : 121.362 us, Update time : 2717.640 us, Write time : 424.188 us + 31.90sWARNros2_control_nodeOverrun might occur, Total time : 3263.190 us (Expected < 1666.667 us) --> Read time : 121.362 us, Update time : 2717.640 us, Write time : 424.188 us[0m ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109425 ms (missed cycles : 3). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109425 ms (missed cycles : 3).[0m ×2 + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405465 ms (missed cycles : 2). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405465 ms (missed cycles : 2).[0m ×2 + 33.39sWARNcontroller_managerOverrun might occur, Total time : 2114.629 us (Expected < 1666.667 us) --> Read time : 380.427 us, Update time : 169.023 us, Write time : 1565.179 us + 33.39sWARNros2_control_nodeOverrun might occur, Total time : 2114.629 us (Expected < 1666.667 us) --> Read time : 380.427 us, Update time : 169.023 us, Write time : 1565.179 us[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272822 ms (missed cycles : 4). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272822 ms (missed cycles : 4).[0m ×2 + 34.71sWARNcontroller_managerOverrun might occur, Total time : 1690.801 us (Expected < 1666.667 us) --> Read time : 189.713 us, Update time : 523.880 us, Write time : 977.208 us + 34.71sWARNros2_control_nodeOverrun might occur, Total time : 1690.801 us (Expected < 1666.667 us) --> Read time : 189.713 us, Update time : 523.880 us, Write time : 977.208 us[0m ×2 + 34.90sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255566 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255566 ms (missed cycles : 2).[0m ×2 + 35.92sWARNcontroller_managerOverrun might occur, Total time : 1933.346 us (Expected < 1666.667 us) --> Read time : 178.854 us, Update time : 226.634 us, Write time : 1527.858 us + 35.92sWARNros2_control_nodeOverrun might occur, Total time : 1933.346 us (Expected < 1666.667 us) --> Read time : 178.854 us, Update time : 226.634 us, Write time : 1527.858 us[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194688 ms (missed cycles : 2). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194688 ms (missed cycles : 2).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023069 ms (missed cycles : 3). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023069 ms (missed cycles : 3).[0m ×2 + 37.67sWARNcontroller_managerOverrun might occur, Total time : 1779.594 us (Expected < 1666.667 us) --> Read time : 157.803 us, Update time : 1326.205 us, Write time : 295.586 us + 37.67sWARNros2_control_nodeOverrun might occur, Total time : 1779.594 us (Expected < 1666.667 us) --> Read time : 157.803 us, Update time : 1326.205 us, Write time : 295.586 us[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264369 ms (missed cycles : 2). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264369 ms (missed cycles : 2).[0m ×2 + 38.72sWARNcontroller_managerOverrun might occur, Total time : 1922.306 us (Expected < 1666.667 us) --> Read time : 1469.178 us, Update time : 135.122 us, Write time : 318.006 us + 38.72sWARNros2_control_nodeOverrun might occur, Total time : 1922.306 us (Expected < 1666.667 us) --> Read time : 1469.178 us, Update time : 135.122 us, Write time : 318.006 us[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936911 ms (missed cycles : 3). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936911 ms (missed cycles : 3).[0m ×2 + 40.15sWARNcontroller_managerOverrun might occur, Total time : 4098.696 us (Expected < 1666.667 us) --> Read time : 122.632 us, Update time : 3594.707 us, Write time : 381.357 us + 40.15sWARNros2_control_nodeOverrun might occur, Total time : 4098.696 us (Expected < 1666.667 us) --> Read time : 122.632 us, Update time : 3594.707 us, Write time : 381.357 us[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.599432 ms (missed cycles : 7). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.599432 ms (missed cycles : 7).[0m ×2 + 41.31sWARNcontroller_managerOverrun might occur, Total time : 3685.178 us (Expected < 1666.667 us) --> Read time : 816.355 us, Update time : 1063.610 us, Write time : 1805.213 us + 41.31sWARNros2_control_nodeOverrun might occur, Total time : 3685.178 us (Expected < 1666.667 us) --> Read time : 816.355 us, Update time : 1063.610 us, Write time : 1805.213 us[0m ×2 + 41.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209503 ms (missed cycles : 4). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209503 ms (missed cycles : 4).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707445 ms (missed cycles : 2). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707445 ms (missed cycles : 2).[0m ×2 + 42.95sWARNcontroller_managerOverrun might occur, Total time : 5103.215 us (Expected < 1666.667 us) --> Read time : 130.252 us, Update time : 4620.136 us, Write time : 352.827 us + 42.96sWARNros2_control_nodeOverrun might occur, Total time : 5103.215 us (Expected < 1666.667 us) --> Read time : 130.252 us, Update time : 4620.136 us, Write time : 352.827 us[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483669 ms (missed cycles : 4). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483669 ms (missed cycles : 4).[0m ×2 + 44.45sWARNcontroller_managerOverrun might occur, Total time : 1957.737 us (Expected < 1666.667 us) --> Read time : 169.834 us, Update time : 126.622 us, Write time : 1661.281 us + 44.45sWARNros2_control_nodeOverrun might occur, Total time : 1957.737 us (Expected < 1666.667 us) --> Read time : 169.834 us, Update time : 126.622 us, Write time : 1661.281 us[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232712 ms (missed cycles : 3). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232712 ms (missed cycles : 3).[0m ×2 + 45.58sWARNcontroller_managerOverrun might occur, Total time : 1832.654 us (Expected < 1666.667 us) --> Read time : 138.213 us, Update time : 1045.649 us, Write time : 648.792 us + 45.58sWARNros2_control_nodeOverrun might occur, Total time : 1832.654 us (Expected < 1666.667 us) --> Read time : 138.213 us, Update time : 1045.649 us, Write time : 648.792 us[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345766 ms (missed cycles : 3). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345766 ms (missed cycles : 3).[0m ×2 + 46.83sWARNcontroller_managerOverrun might occur, Total time : 3370.503 us (Expected < 1666.667 us) --> Read time : 115.142 us, Update time : 2858.944 us, Write time : 396.417 us + 46.83sWARNros2_control_nodeOverrun might occur, Total time : 3370.503 us (Expected < 1666.667 us) --> Read time : 115.142 us, Update time : 2858.944 us, Write time : 396.417 us[0m ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907801 ms (missed cycles : 2). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907801 ms (missed cycles : 2).[0m ×2 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240680 ms (missed cycles : 2). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240680 ms (missed cycles : 2).[0m ×2 + 48.01sWARNcontroller_managerOverrun might occur, Total time : 7077.071 us (Expected < 1666.667 us) --> Read time : 193.124 us, Update time : 6338.587 us, Write time : 545.360 us + 48.01sWARNros2_control_nodeOverrun might occur, Total time : 7077.071 us (Expected < 1666.667 us) --> Read time : 193.124 us, Update time : 6338.587 us, Write time : 545.360 us[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632680 ms (missed cycles : 4). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632680 ms (missed cycles : 4).[0m ×2 + 49.29sWARNcontroller_managerOverrun might occur, Total time : 4948.662 us (Expected < 1666.667 us) --> Read time : 203.754 us, Update time : 4376.451 us, Write time : 368.457 us + 49.29sWARNros2_control_nodeOverrun might occur, Total time : 4948.662 us (Expected < 1666.667 us) --> Read time : 203.754 us, Update time : 4376.451 us, Write time : 368.457 us[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736484 ms (missed cycles : 2). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736484 ms (missed cycles : 2).[0m ×2 + 50.31sWARNcontroller_managerOverrun might occur, Total time : 2192.951 us (Expected < 1666.667 us) --> Read time : 131.023 us, Update time : 1799.383 us, Write time : 262.545 us + 50.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.951 us (Expected < 1666.667 us) --> Read time : 131.023 us, Update time : 1799.383 us, Write time : 262.545 us[0m ×2 + 51.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278067 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278067 ms (missed cycles : 2).[0m ×2 + 51.96sWARNcontroller_managerOverrun might occur, Total time : 3206.740 us (Expected < 1666.667 us) --> Read time : 117.053 us, Update time : 2747.811 us, Write time : 341.876 us + 51.96sWARNros2_control_nodeOverrun might occur, Total time : 3206.740 us (Expected < 1666.667 us) --> Read time : 117.053 us, Update time : 2747.811 us, Write time : 341.876 us[0m ×2 + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710276 ms (missed cycles : 2). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710276 ms (missed cycles : 2).[0m ×2 + 53.08sWARNcontroller_managerOverrun might occur, Total time : 6305.127 us (Expected < 1666.667 us) --> Read time : 125.132 us, Update time : 5683.646 us, Write time : 496.349 us + 53.08sWARNros2_control_nodeOverrun might occur, Total time : 6305.127 us (Expected < 1666.667 us) --> Read time : 125.132 us, Update time : 5683.646 us, Write time : 496.349 us[0m ×2 + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717826 ms (missed cycles : 3). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717826 ms (missed cycles : 3).[0m ×2 + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245595 ms (missed cycles : 2). + 54.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245595 ms (missed cycles : 2).[0m ×2 + 54.26sWARNcontroller_managerOverrun might occur, Total time : 2504.667 us (Expected < 1666.667 us) --> Read time : 1839.824 us, Update time : 145.383 us, Write time : 519.460 us + 54.26sWARNros2_control_nodeOverrun might occur, Total time : 2504.667 us (Expected < 1666.667 us) --> Read time : 1839.824 us, Update time : 145.383 us, Write time : 519.460 us[0m ×2 + 55.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340105 ms (missed cycles : 4). + 55.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340105 ms (missed cycles : 4).[0m ×2 + 56.29sWARNcontroller_managerOverrun might occur, Total time : 4995.242 us (Expected < 1666.667 us) --> Read time : 162.853 us, Update time : 149.052 us, Write time : 4683.337 us + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172300 ms (missed cycles : 4). + 56.30sWARNros2_control_nodeOverrun might occur, Total time : 4995.242 us (Expected < 1666.667 us) --> Read time : 162.853 us, Update time : 149.052 us, Write time : 4683.337 us[0m ×2 + 56.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172300 ms (missed cycles : 4).[0m ×2 + 57.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226072 ms (missed cycles : 2). + 57.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226072 ms (missed cycles : 2).[0m ×2 + 57.38sWARNcontroller_managerOverrun might occur, Total time : 2315.434 us (Expected < 1666.667 us) --> Read time : 134.343 us, Update time : 1881.855 us, Write time : 299.236 us + 57.38sWARNros2_control_nodeOverrun might occur, Total time : 2315.434 us (Expected < 1666.667 us) --> Read time : 134.343 us, Update time : 1881.855 us, Write time : 299.236 us[0m ×2 + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066759 ms (missed cycles : 3). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066759 ms (missed cycles : 3).[0m ×2 + 58.61sWARNcontroller_managerOverrun might occur, Total time : 3265.401 us (Expected < 1666.667 us) --> Read time : 113.432 us, Update time : 2400.535 us, Write time : 751.434 us + 58.61sWARNros2_control_nodeOverrun might occur, Total time : 3265.401 us (Expected < 1666.667 us) --> Read time : 113.432 us, Update time : 2400.535 us, Write time : 751.434 us[0m ×2 + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352360 ms (missed cycles : 4). + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352360 ms (missed cycles : 4).[0m ×2 + 59.80sWARNcontroller_managerOverrun might occur, Total time : 1828.764 us (Expected < 1666.667 us) --> Read time : 126.192 us, Update time : 1329.345 us, Write time : 373.227 us + 59.81sWARNros2_control_nodeOverrun might occur, Total time : 1828.764 us (Expected < 1666.667 us) --> Read time : 126.192 us, Update time : 1329.345 us, Write time : 373.227 us[0m ×2 + 60.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614356 ms (missed cycles : 4). + 60.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614356 ms (missed cycles : 4).[0m ×2 + 60.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781204208.61280155 seconds ×3 + 60.89sWARNcontroller_managerOverrun might occur, Total time : 1714.892 us (Expected < 1666.667 us) --> Read time : 758.974 us, Update time : 140.332 us, Write time : 815.586 us + 60.89sWARNros2_control_nodeOverrun might occur, Total time : 1714.892 us (Expected < 1666.667 us) --> Read time : 758.974 us, Update time : 140.332 us, Write time : 815.586 us[0m ×2 + 61.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781204209.16976070 seconds. ×3 + 61.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117235 ms (missed cycles : 3). + 61.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117235 ms (missed cycles : 3).[0m ×2 + 61.68sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 61.71sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.92sWARNcontroller_managerOverrun might occur, Total time : 4133.467 us (Expected < 1666.667 us) --> Read time : 148.923 us, Update time : 3591.827 us, Write time : 392.717 us + 61.92sWARNros2_control_nodeOverrun might occur, Total time : 4133.467 us (Expected < 1666.667 us) --> Read time : 148.923 us, Update time : 3591.827 us, Write time : 392.717 us[0m ×2 + 62.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947364 ms (missed cycles : 3). + 62.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947364 ms (missed cycles : 3).[0m ×2 + 63.07sWARNcontroller_managerOverrun might occur, Total time : 3666.238 us (Expected < 1666.667 us) --> Read time : 139.693 us, Update time : 3078.807 us, Write time : 447.738 us + 63.07sWARNros2_control_nodeOverrun might occur, Total time : 3666.238 us (Expected < 1666.667 us) --> Read time : 139.693 us, Update time : 3078.807 us, Write time : 447.738 us[0m ×2 + 63.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058597 ms (missed cycles : 2). + 63.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058597 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.3s | 297 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.36sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781204013.07038713 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781204013.61968231 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us + 4.20sWARNros2_control_nodeOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.59sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957297 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957297 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun might occur, Total time : 1895.276 us (Expected < 1666.667 us) --> Read time : 126.743 us, Update time : 1455.027 us, Write time : 313.506 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 1895.276 us (Expected < 1666.667 us) --> Read time : 126.743 us, Update time : 1455.027 us, Write time : 313.506 us[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513394 ms (missed cycles : 4). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513394 ms (missed cycles : 4).[0m ×2 + 8.19sWARNcontroller_managerOverrun might occur, Total time : 8377.595 us (Expected < 1666.667 us) --> Read time : 366.477 us, Update time : 333.466 us, Write time : 7677.652 us + 8.20sWARNros2_control_nodeOverrun might occur, Total time : 8377.595 us (Expected < 1666.667 us) --> Read time : 366.477 us, Update time : 333.466 us, Write time : 7677.652 us[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877869 ms (missed cycles : 5). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877869 ms (missed cycles : 5).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832712 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832712 ms (missed cycles : 3).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484453 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484453 ms (missed cycles : 2).[0m ×2 + 11.06sWARNcontroller_managerOverrun might occur, Total time : 1689.971 us (Expected < 1666.667 us) --> Read time : 1213.002 us, Update time : 155.613 us, Write time : 321.356 us + 11.06sWARNros2_control_nodeOverrun might occur, Total time : 1689.971 us (Expected < 1666.667 us) --> Read time : 1213.002 us, Update time : 155.613 us, Write time : 321.356 us[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156882 ms (missed cycles : 5). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156882 ms (missed cycles : 5).[0m ×2 + 12.31sWARNcontroller_managerOverrun might occur, Total time : 4130.587 us (Expected < 1666.667 us) --> Read time : 234.175 us, Update time : 3469.184 us, Write time : 427.228 us + 12.31sWARNros2_control_nodeOverrun might occur, Total time : 4130.587 us (Expected < 1666.667 us) --> Read time : 234.175 us, Update time : 3469.184 us, Write time : 427.228 us[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361331 ms (missed cycles : 5). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361331 ms (missed cycles : 5).[0m ×2 + 13.38sWARNcontroller_managerOverrun might occur, Total time : 2002.978 us (Expected < 1666.667 us) --> Read time : 207.974 us, Update time : 495.199 us, Write time : 1299.805 us + 13.38sWARNros2_control_nodeOverrun might occur, Total time : 2002.978 us (Expected < 1666.667 us) --> Read time : 207.974 us, Update time : 495.199 us, Write time : 1299.805 us[0m ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721281 ms (missed cycles : 4). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721281 ms (missed cycles : 4).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549363 ms (missed cycles : 4). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549363 ms (missed cycles : 4).[0m ×2 + 15.31sWARNcontroller_managerOverrun might occur, Total time : 3570.507 us (Expected < 1666.667 us) --> Read time : 125.383 us, Update time : 2981.165 us, Write time : 463.959 us + 15.31sWARNros2_control_nodeOverrun might occur, Total time : 3570.507 us (Expected < 1666.667 us) --> Read time : 125.383 us, Update time : 2981.165 us, Write time : 463.959 us[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369472 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369472 ms (missed cycles : 3).[0m ×2 + 17.08sWARNcontroller_managerOverrun might occur, Total time : 2454.646 us (Expected < 1666.667 us) --> Read time : 163.313 us, Update time : 1921.476 us, Write time : 369.857 us + 17.08sWARNros2_control_nodeOverrun might occur, Total time : 2454.646 us (Expected < 1666.667 us) --> Read time : 163.313 us, Update time : 1921.476 us, Write time : 369.857 us[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446334 ms (missed cycles : 3). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446334 ms (missed cycles : 3).[0m ×2 + 18.28sWARNcontroller_managerOverrun might occur, Total time : 2811.842 us (Expected < 1666.667 us) --> Read time : 167.063 us, Update time : 2245.532 us, Write time : 399.247 us + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384125 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun might occur, Total time : 2811.842 us (Expected < 1666.667 us) --> Read time : 167.063 us, Update time : 2245.532 us, Write time : 399.247 us[0m ×2 + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384125 ms (missed cycles : 3).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833909 ms (missed cycles : 3). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833909 ms (missed cycles : 3).[0m ×2 + 19.43sWARNcontroller_managerOverrun might occur, Total time : 4903.381 us (Expected < 1666.667 us) --> Read time : 178.853 us, Update time : 110.342 us, Write time : 4614.186 us + 19.43sWARNros2_control_nodeOverrun might occur, Total time : 4903.381 us (Expected < 1666.667 us) --> Read time : 178.853 us, Update time : 110.342 us, Write time : 4614.186 us[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257160 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257160 ms (missed cycles : 2).[0m ×2 + 21.10sWARNcontroller_managerOverrun might occur, Total time : 1972.247 us (Expected < 1666.667 us) --> Read time : 330.936 us, Update time : 173.944 us, Write time : 1467.367 us + 21.10sWARNros2_control_nodeOverrun might occur, Total time : 1972.247 us (Expected < 1666.667 us) --> Read time : 330.936 us, Update time : 173.944 us, Write time : 1467.367 us[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479876 ms (missed cycles : 4). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479876 ms (missed cycles : 4).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951521 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951521 ms (missed cycles : 2).[0m ×2 + 22.61sWARNcontroller_managerOverrun might occur, Total time : 1954.107 us (Expected < 1666.667 us) --> Read time : 1362.946 us, Update time : 203.863 us, Write time : 387.298 us + 22.61sWARNros2_control_nodeOverrun might occur, Total time : 1954.107 us (Expected < 1666.667 us) --> Read time : 1362.946 us, Update time : 203.863 us, Write time : 387.298 us[0m ×2 + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090235 ms (missed cycles : 4). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090235 ms (missed cycles : 4).[0m ×2 + 23.90sWARNcontroller_managerOverrun might occur, Total time : 1680.151 us (Expected < 1666.667 us) --> Read time : 145.863 us, Update time : 1195.332 us, Write time : 338.956 us + 23.90sWARNros2_control_nodeOverrun might occur, Total time : 1680.151 us (Expected < 1666.667 us) --> Read time : 145.863 us, Update time : 1195.332 us, Write time : 338.956 us[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.475099 ms (missed cycles : 7). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.475099 ms (missed cycles : 7).[0m ×2 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703926 ms (missed cycles : 5). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703926 ms (missed cycles : 5).[0m ×2 + 25.49sWARNcontroller_managerOverrun might occur, Total time : 2819.872 us (Expected < 1666.667 us) --> Read time : 199.384 us, Update time : 2163.630 us, Write time : 456.858 us + 25.49sWARNros2_control_nodeOverrun might occur, Total time : 2819.872 us (Expected < 1666.667 us) --> Read time : 199.384 us, Update time : 2163.630 us, Write time : 456.858 us[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078805 ms (missed cycles : 3). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078805 ms (missed cycles : 3).[0m ×2 + 27.33sWARNcontroller_managerOverrun might occur, Total time : 2659.450 us (Expected < 1666.667 us) --> Read time : 135.063 us, Update time : 200.024 us, Write time : 2324.363 us + 27.34sWARNros2_control_nodeOverrun might occur, Total time : 2659.450 us (Expected < 1666.667 us) --> Read time : 135.063 us, Update time : 200.024 us, Write time : 2324.363 us[0m ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755785 ms (missed cycles : 2). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755785 ms (missed cycles : 2).[0m ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200781 ms (missed cycles : 2). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200781 ms (missed cycles : 2).[0m ×2 + 28.54sWARNcontroller_managerOverrun might occur, Total time : 5153.155 us (Expected < 1666.667 us) --> Read time : 103.182 us, Update time : 4586.945 us, Write time : 463.028 us + 28.54sWARNros2_control_nodeOverrun might occur, Total time : 5153.155 us (Expected < 1666.667 us) --> Read time : 103.182 us, Update time : 4586.945 us, Write time : 463.028 us[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289177 ms (missed cycles : 2). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289177 ms (missed cycles : 2).[0m ×2 + 29.88sWARNcontroller_managerOverrun might occur, Total time : 4797.839 us (Expected < 1666.667 us) --> Read time : 138.832 us, Update time : 144.053 us, Write time : 4514.954 us + 29.88sWARNros2_control_nodeOverrun might occur, Total time : 4797.839 us (Expected < 1666.667 us) --> Read time : 138.832 us, Update time : 144.053 us, Write time : 4514.954 us[0m ×2 + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739444 ms (missed cycles : 2). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739444 ms (missed cycles : 2).[0m ×2 + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521976 ms (missed cycles : 3). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521976 ms (missed cycles : 3).[0m ×2 + 31.70sWARNcontroller_managerOverrun might occur, Total time : 2223.072 us (Expected < 1666.667 us) --> Read time : 123.133 us, Update time : 841.075 us, Write time : 1258.864 us + 31.71sWARNros2_control_nodeOverrun might occur, Total time : 2223.072 us (Expected < 1666.667 us) --> Read time : 123.133 us, Update time : 841.075 us, Write time : 1258.864 us[0m ×2 + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808121 ms (missed cycles : 2). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808121 ms (missed cycles : 2).[0m ×2 + 33.12sWARNcontroller_managerOverrun might occur, Total time : 1783.734 us (Expected < 1666.667 us) --> Read time : 122.132 us, Update time : 536.631 us, Write time : 1124.971 us + 33.12sWARNros2_control_nodeOverrun might occur, Total time : 1783.734 us (Expected < 1666.667 us) --> Read time : 122.132 us, Update time : 536.631 us, Write time : 1124.971 us[0m ×2 + 33.59sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249815 ms (missed cycles : 5). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249815 ms (missed cycles : 5).[0m ×2 + 34.23sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600991 ms (missed cycles : 6). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600991 ms (missed cycles : 6).[0m ×2 + 35.08sWARNcontroller_managerOverrun might occur, Total time : 3550.606 us (Expected < 1666.667 us) --> Read time : 126.892 us, Update time : 2974.595 us, Write time : 449.119 us + 35.08sWARNros2_control_nodeOverrun might occur, Total time : 3550.606 us (Expected < 1666.667 us) --> Read time : 126.892 us, Update time : 2974.595 us, Write time : 449.119 us[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488043 ms (missed cycles : 3). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488043 ms (missed cycles : 3).[0m ×2 + 36.29sWARNcontroller_managerOverrun might occur, Total time : 4931.822 us (Expected < 1666.667 us) --> Read time : 135.023 us, Update time : 414.857 us, Write time : 4381.942 us + 36.29sWARNros2_control_nodeOverrun might occur, Total time : 4931.822 us (Expected < 1666.667 us) --> Read time : 135.023 us, Update time : 414.857 us, Write time : 4381.942 us[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190615 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190615 ms (missed cycles : 2).[0m ×2 + 37.29sWARNcontroller_managerOverrun might occur, Total time : 8798.183 us (Expected < 1666.667 us) --> Read time : 164.033 us, Update time : 140.822 us, Write time : 8493.328 us + 37.29sWARNros2_control_nodeOverrun might occur, Total time : 8798.183 us (Expected < 1666.667 us) --> Read time : 164.033 us, Update time : 140.822 us, Write time : 8493.328 us[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.470870 ms (missed cycles : 7). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.470870 ms (missed cycles : 7).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820422 ms (missed cycles : 4). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820422 ms (missed cycles : 4).[0m ×2 + 39.07sWARNcontroller_managerOverrun might occur, Total time : 1927.727 us (Expected < 1666.667 us) --> Read time : 175.964 us, Update time : 1394.866 us, Write time : 356.897 us + 39.07sWARNros2_control_nodeOverrun might occur, Total time : 1927.727 us (Expected < 1666.667 us) --> Read time : 175.964 us, Update time : 1394.866 us, Write time : 356.897 us[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891774 ms (missed cycles : 3). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891774 ms (missed cycles : 3).[0m ×2 + 40.10sWARNcontroller_managerOverrun might occur, Total time : 2583.258 us (Expected < 1666.667 us) --> Read time : 135.503 us, Update time : 2126.849 us, Write time : 320.906 us + 40.10sWARNros2_control_nodeOverrun might occur, Total time : 2583.258 us (Expected < 1666.667 us) --> Read time : 135.503 us, Update time : 2126.849 us, Write time : 320.906 us[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892185 ms (missed cycles : 3). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892185 ms (missed cycles : 3).[0m ×2 + 41.69sWARNcontroller_managerOverrun might occur, Total time : 2968.805 us (Expected < 1666.667 us) --> Read time : 124.702 us, Update time : 113.592 us, Write time : 2730.511 us + 41.69sWARNros2_control_nodeOverrun might occur, Total time : 2968.805 us (Expected < 1666.667 us) --> Read time : 124.702 us, Update time : 113.592 us, Write time : 2730.511 us[0m ×2 + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464196 ms (missed cycles : 2). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464196 ms (missed cycles : 2).[0m ×2 + 42.72sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.363863 ms (missed cycles : 8). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.363863 ms (missed cycles : 8).[0m ×2 + 43.31sWARNcontroller_managerOverrun might occur, Total time : 4428.792 us (Expected < 1666.667 us) --> Read time : 130.882 us, Update time : 3807.041 us, Write time : 490.869 us + 43.31sWARNros2_control_nodeOverrun might occur, Total time : 4428.792 us (Expected < 1666.667 us) --> Read time : 130.882 us, Update time : 3807.041 us, Write time : 490.869 us[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.616598 ms (missed cycles : 6). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.616598 ms (missed cycles : 6).[0m ×2 + 44.66sWARNcontroller_managerOverrun might occur, Total time : 5490.192 us (Expected < 1666.667 us) --> Read time : 161.423 us, Update time : 4846.370 us, Write time : 482.399 us + 44.66sWARNros2_control_nodeOverrun might occur, Total time : 5490.192 us (Expected < 1666.667 us) --> Read time : 161.423 us, Update time : 4846.370 us, Write time : 482.399 us[0m ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668042 ms (missed cycles : 6). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668042 ms (missed cycles : 6).[0m ×2 + 46.04sWARNcontroller_managerOverrun might occur, Total time : 4577.675 us (Expected < 1666.667 us) --> Read time : 207.594 us, Update time : 3885.742 us, Write time : 484.339 us + 46.04sWARNros2_control_nodeOverrun might occur, Total time : 4577.675 us (Expected < 1666.667 us) --> Read time : 207.594 us, Update time : 3885.742 us, Write time : 484.339 us[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766573 ms (missed cycles : 3). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766573 ms (missed cycles : 3).[0m ×2 + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767747 ms (missed cycles : 4). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767747 ms (missed cycles : 4).[0m ×2 + 48.08sWARNcontroller_managerOverrun might occur, Total time : 2159.500 us (Expected < 1666.667 us) --> Read time : 146.982 us, Update time : 81.242 us, Write time : 1931.276 us + 48.09sWARNros2_control_nodeOverrun might occur, Total time : 2159.500 us (Expected < 1666.667 us) --> Read time : 146.982 us, Update time : 81.242 us, Write time : 1931.276 us[0m ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553937 ms (missed cycles : 3). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553937 ms (missed cycles : 3).[0m ×2 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098797 ms (missed cycles : 5). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098797 ms (missed cycles : 5).[0m ×2 + 49.70sWARNcontroller_managerOverrun might occur, Total time : 5293.649 us (Expected < 1666.667 us) --> Read time : 168.574 us, Update time : 4658.996 us, Write time : 466.079 us + 49.70sWARNros2_control_nodeOverrun might occur, Total time : 5293.649 us (Expected < 1666.667 us) --> Read time : 168.574 us, Update time : 4658.996 us, Write time : 466.079 us[0m ×2 + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449089 ms (missed cycles : 4). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449089 ms (missed cycles : 4).[0m ×2 + 51.10sWARNcontroller_managerOverrun might occur, Total time : 2118.510 us (Expected < 1666.667 us) --> Read time : 152.033 us, Update time : 152.213 us, Write time : 1814.264 us + 51.10sWARNros2_control_nodeOverrun might occur, Total time : 2118.510 us (Expected < 1666.667 us) --> Read time : 152.033 us, Update time : 152.213 us, Write time : 1814.264 us[0m ×2 + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050216 ms (missed cycles : 5). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050216 ms (missed cycles : 5).[0m ×2 + 52.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948929 ms (missed cycles : 3). + 52.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948929 ms (missed cycles : 3).[0m ×2 + 52.74sWARNcontroller_managerOverrun might occur, Total time : 3055.576 us (Expected < 1666.667 us) --> Read time : 126.452 us, Update time : 2574.298 us, Write time : 354.826 us + 52.74sWARNros2_control_nodeOverrun might occur, Total time : 3055.576 us (Expected < 1666.667 us) --> Read time : 126.452 us, Update time : 2574.298 us, Write time : 354.826 us[0m ×2 + 53.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107048 ms (missed cycles : 6). + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107048 ms (missed cycles : 6).[0m ×2 + 54.28sWARNcontroller_managerOverrun might occur, Total time : 3138.509 us (Expected < 1666.667 us) --> Read time : 2640.509 us, Update time : 161.333 us, Write time : 336.667 us + 54.28sWARNros2_control_nodeOverrun might occur, Total time : 3138.509 us (Expected < 1666.667 us) --> Read time : 2640.509 us, Update time : 161.333 us, Write time : 336.667 us[0m ×2 + 54.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813851 ms (missed cycles : 3). + 54.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813851 ms (missed cycles : 3).[0m ×2 + 55.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203507 ms (missed cycles : 5). + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203507 ms (missed cycles : 5).[0m ×2 + 55.94sWARNcontroller_managerOverrun might occur, Total time : 3932.673 us (Expected < 1666.667 us) --> Read time : 141.483 us, Update time : 98.692 us, Write time : 3692.498 us + 55.94sWARNros2_control_nodeOverrun might occur, Total time : 3932.673 us (Expected < 1666.667 us) --> Read time : 141.483 us, Update time : 98.692 us, Write time : 3692.498 us[0m ×2 + 56.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897958 ms (missed cycles : 3). + 56.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897958 ms (missed cycles : 3).[0m ×2 + 57.13sWARNcontroller_managerOverrun might occur, Total time : 2194.941 us (Expected < 1666.667 us) --> Read time : 652.843 us, Update time : 692.042 us, Write time : 850.056 us + 57.13sWARNros2_control_nodeOverrun might occur, Total time : 2194.941 us (Expected < 1666.667 us) --> Read time : 652.843 us, Update time : 692.042 us, Write time : 850.056 us[0m ×2 + 57.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781204067.33142567 seconds ×3 + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136957 ms (missed cycles : 2). + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136957 ms (missed cycles : 2).[0m ×2 + 58.21sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781204067.87900829 seconds. ×3 + 58.37sWARNcontroller_managerOverrun might occur, Total time : 3827.811 us (Expected < 1666.667 us) --> Read time : 541.850 us, Update time : 2723.101 us, Write time : 562.860 us + 58.37sWARNros2_control_nodeOverrun might occur, Total time : 3827.811 us (Expected < 1666.667 us) --> Read time : 541.850 us, Update time : 2723.101 us, Write time : 562.860 us[0m ×2 + 58.65sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 58.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673949 ms (missed cycles : 2). + 58.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673949 ms (missed cycles : 2).[0m ×2 + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935001 ms (missed cycles : 5). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935001 ms (missed cycles : 5).[0m ×2 + 60.06sWARNcontroller_managerOverrun might occur, Total time : 1855.695 us (Expected < 1666.667 us) --> Read time : 147.043 us, Update time : 564.151 us, Write time : 1144.501 us + 60.06sWARNros2_control_nodeOverrun might occur, Total time : 1855.695 us (Expected < 1666.667 us) --> Read time : 147.043 us, Update time : 564.151 us, Write time : 1144.501 us[0m ×2 + 60.33sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.8s | 252 warnings · 665 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.29sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.33sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 0.65sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.02sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.03sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.03sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.03sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.07sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.08sINFOforce_torque_sensor_broadcasterconfigure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 1.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.87sINFOmove_groupClearing octomap...[0m ×2 + 1.87sINFOmove_groupOctomap cleared.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 3.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.16sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.36sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun might occur, Total time : 1684.601 us (Expected < 1666.667 us) --> Read time : 132.532 us, Update time : 1242.534 us, Write time : 309.535 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1684.601 us (Expected < 1666.667 us) --> Read time : 132.532 us, Update time : 1242.534 us, Write time : 309.535 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689623 ms (missed cycles : 6). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689623 ms (missed cycles : 6).[0m ×2 + 7.90sWARNcontroller_managerOverrun might occur, Total time : 2805.952 us (Expected < 1666.667 us) --> Read time : 365.077 us, Update time : 2154.860 us, Write time : 286.015 us + 7.90sWARNros2_control_nodeOverrun might occur, Total time : 2805.952 us (Expected < 1666.667 us) --> Read time : 365.077 us, Update time : 2154.860 us, Write time : 286.015 us[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165749 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165749 ms (missed cycles : 3).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200867 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200867 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun might occur, Total time : 4367.102 us (Expected < 1666.667 us) --> Read time : 161.353 us, Update time : 69.741 us, Write time : 4136.008 us + 9.57sWARNros2_control_nodeOverrun might occur, Total time : 4367.102 us (Expected < 1666.667 us) --> Read time : 161.353 us, Update time : 69.741 us, Write time : 4136.008 us[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626135 ms (missed cycles : 4). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626135 ms (missed cycles : 4).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027714 ms (missed cycles : 4). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027714 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun might occur, Total time : 2340.743 us (Expected < 1666.667 us) --> Read time : 226.664 us, Update time : 1721.002 us, Write time : 393.077 us + 11.66sWARNros2_control_nodeOverrun might occur, Total time : 2340.743 us (Expected < 1666.667 us) --> Read time : 226.664 us, Update time : 1721.002 us, Write time : 393.077 us[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820589 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820589 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun might occur, Total time : 3799.561 us (Expected < 1666.667 us) --> Read time : 222.684 us, Update time : 3196.860 us, Write time : 380.017 us + 12.86sWARNros2_control_nodeOverrun might occur, Total time : 3799.561 us (Expected < 1666.667 us) --> Read time : 222.684 us, Update time : 3196.860 us, Write time : 380.017 us[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120150 ms (missed cycles : 4). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120150 ms (missed cycles : 4).[0m ×2 + 13.95sWARNcontroller_managerOverrun might occur, Total time : 2076.799 us (Expected < 1666.667 us) --> Read time : 748.374 us, Update time : 416.608 us, Write time : 911.817 us + 13.96sWARNros2_control_nodeOverrun might occur, Total time : 2076.799 us (Expected < 1666.667 us) --> Read time : 748.374 us, Update time : 416.608 us, Write time : 911.817 us[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982710 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982710 ms (missed cycles : 3).[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655285 ms (missed cycles : 4). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655285 ms (missed cycles : 4).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889127 ms (missed cycles : 5). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889127 ms (missed cycles : 5).[0m ×2 + 16.58sWARNcontroller_managerOverrun might occur, Total time : 3251.020 us (Expected < 1666.667 us) --> Read time : 142.303 us, Update time : 2706.750 us, Write time : 401.967 us + 16.58sWARNros2_control_nodeOverrun might occur, Total time : 3251.020 us (Expected < 1666.667 us) --> Read time : 142.303 us, Update time : 2706.750 us, Write time : 401.967 us[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014697 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014697 ms (missed cycles : 2).[0m ×2 + 18.30sWARNcontroller_managerOverrun might occur, Total time : 4521.485 us (Expected < 1666.667 us) --> Read time : 160.983 us, Update time : 99.112 us, Write time : 4261.390 us + 18.30sWARNros2_control_nodeOverrun might occur, Total time : 4521.485 us (Expected < 1666.667 us) --> Read time : 160.983 us, Update time : 99.112 us, Write time : 4261.390 us[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740185 ms (missed cycles : 3). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740185 ms (missed cycles : 3).[0m ×2 + 19.54sWARNcontroller_managerOverrun might occur, Total time : 2559.748 us (Expected < 1666.667 us) --> Read time : 147.983 us, Update time : 2001.308 us, Write time : 410.457 us + 19.54sWARNros2_control_nodeOverrun might occur, Total time : 2559.748 us (Expected < 1666.667 us) --> Read time : 147.983 us, Update time : 2001.308 us, Write time : 410.457 us[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785277 ms (missed cycles : 3). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785277 ms (missed cycles : 3).[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923401 ms (missed cycles : 2). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923401 ms (missed cycles : 2).[0m ×2 + 20.81sWARNcontroller_managerOverrun might occur, Total time : 3626.367 us (Expected < 1666.667 us) --> Read time : 228.884 us, Update time : 139.253 us, Write time : 3258.230 us + 20.81sWARNros2_control_nodeOverrun might occur, Total time : 3626.367 us (Expected < 1666.667 us) --> Read time : 228.884 us, Update time : 139.253 us, Write time : 3258.230 us[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.458305 ms (missed cycles : 7). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.458305 ms (missed cycles : 7).[0m ×2 + 22.52sWARNcontroller_managerOverrun might occur, Total time : 3121.828 us (Expected < 1666.667 us) --> Read time : 159.733 us, Update time : 132.792 us, Write time : 2829.303 us + 22.52sWARNros2_control_nodeOverrun might occur, Total time : 3121.828 us (Expected < 1666.667 us) --> Read time : 159.733 us, Update time : 132.792 us, Write time : 2829.303 us[0m ×2 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113085 ms (missed cycles : 2). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113085 ms (missed cycles : 2).[0m ×2 + 23.55sWARNcontroller_managerOverrun might occur, Total time : 2442.345 us (Expected < 1666.667 us) --> Read time : 147.792 us, Update time : 196.674 us, Write time : 2097.879 us + 23.55sWARNros2_control_nodeOverrun might occur, Total time : 2442.345 us (Expected < 1666.667 us) --> Read time : 147.792 us, Update time : 196.674 us, Write time : 2097.879 us[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399839 ms (missed cycles : 7). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399839 ms (missed cycles : 7).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765435 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765435 ms (missed cycles : 3).[0m ×2 + 25.38sWARNcontroller_managerOverrun might occur, Total time : 2327.603 us (Expected < 1666.667 us) --> Read time : 1827.594 us, Update time : 160.123 us, Write time : 339.886 us + 25.39sWARNros2_control_nodeOverrun might occur, Total time : 2327.603 us (Expected < 1666.667 us) --> Read time : 1827.594 us, Update time : 160.123 us, Write time : 339.886 us[0m ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815427 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815427 ms (missed cycles : 3).[0m ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872737 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872737 ms (missed cycles : 3).[0m ×2 + 27.18sWARNcontroller_managerOverrun might occur, Total time : 3894.372 us (Expected < 1666.667 us) --> Read time : 141.573 us, Update time : 97.911 us, Write time : 3654.888 us + 27.18sWARNros2_control_nodeOverrun might occur, Total time : 3894.372 us (Expected < 1666.667 us) --> Read time : 141.573 us, Update time : 97.911 us, Write time : 3654.888 us[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302944 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302944 ms (missed cycles : 2).[0m ×2 + 28.75sWARNcontroller_managerOverrun might occur, Total time : 2252.262 us (Expected < 1666.667 us) --> Read time : 145.753 us, Update time : 130.032 us, Write time : 1976.477 us + 28.75sWARNros2_control_nodeOverrun might occur, Total time : 2252.262 us (Expected < 1666.667 us) --> Read time : 145.753 us, Update time : 130.032 us, Write time : 1976.477 us[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974692 ms (missed cycles : 6). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974692 ms (missed cycles : 6).[0m ×2 + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744686 ms (missed cycles : 3). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744686 ms (missed cycles : 3).[0m ×2 + 30.23sWARNcontroller_managerOverrun might occur, Total time : 2857.783 us (Expected < 1666.667 us) --> Read time : 137.892 us, Update time : 2326.443 us, Write time : 393.448 us + 30.23sWARNros2_control_nodeOverrun might occur, Total time : 2857.783 us (Expected < 1666.667 us) --> Read time : 137.892 us, Update time : 2326.443 us, Write time : 393.448 us[0m ×2 + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860705 ms (missed cycles : 2). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860705 ms (missed cycles : 2).[0m ×2 + 31.52sWARNcontroller_managerOverrun might occur, Total time : 2045.448 us (Expected < 1666.667 us) --> Read time : 304.515 us, Update time : 177.834 us, Write time : 1563.099 us + 31.52sWARNros2_control_nodeOverrun might occur, Total time : 2045.448 us (Expected < 1666.667 us) --> Read time : 304.515 us, Update time : 177.834 us, Write time : 1563.099 us[0m ×2 + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228763 ms (missed cycles : 2). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228763 ms (missed cycles : 2).[0m ×2 + 32.68sWARNcontroller_managerOverrun might occur, Total time : 2145.880 us (Expected < 1666.667 us) --> Read time : 396.428 us, Update time : 1392.716 us, Write time : 356.736 us + 32.69sWARNros2_control_nodeOverrun might occur, Total time : 2145.880 us (Expected < 1666.667 us) --> Read time : 396.428 us, Update time : 1392.716 us, Write time : 356.736 us[0m ×2 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006309 ms (missed cycles : 4). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006309 ms (missed cycles : 4).[0m ×2 + 33.97sWARNcontroller_managerOverrun might occur, Total time : 2894.554 us (Expected < 1666.667 us) --> Read time : 158.493 us, Update time : 121.552 us, Write time : 2614.509 us + 33.97sWARNros2_control_nodeOverrun might occur, Total time : 2894.554 us (Expected < 1666.667 us) --> Read time : 158.493 us, Update time : 121.552 us, Write time : 2614.509 us[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802491 ms (missed cycles : 2). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802491 ms (missed cycles : 2).[0m ×2 + 35.04sWARNcontroller_managerOverrun might occur, Total time : 1858.115 us (Expected < 1666.667 us) --> Read time : 253.905 us, Update time : 1295.244 us, Write time : 308.966 us + 35.04sWARNros2_control_nodeOverrun might occur, Total time : 1858.115 us (Expected < 1666.667 us) --> Read time : 253.905 us, Update time : 1295.244 us, Write time : 308.966 us[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817701 ms (missed cycles : 3). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817701 ms (missed cycles : 3).[0m ×2 + 36.10sWARNcontroller_managerOverrun might occur, Total time : 2083.819 us (Expected < 1666.667 us) --> Read time : 136.132 us, Update time : 1600.320 us, Write time : 347.367 us + 36.10sWARNros2_control_nodeOverrun might occur, Total time : 2083.819 us (Expected < 1666.667 us) --> Read time : 136.132 us, Update time : 1600.320 us, Write time : 347.367 us[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580099 ms (missed cycles : 3). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580099 ms (missed cycles : 3).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645146 ms (missed cycles : 3). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645146 ms (missed cycles : 3).[0m ×2 + 38.19sWARNcontroller_managerOverrun might occur, Total time : 2028.928 us (Expected < 1666.667 us) --> Read time : 138.863 us, Update time : 1570.279 us, Write time : 319.786 us + 38.19sWARNros2_control_nodeOverrun might occur, Total time : 2028.928 us (Expected < 1666.667 us) --> Read time : 138.863 us, Update time : 1570.279 us, Write time : 319.786 us[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997758 ms (missed cycles : 3). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997758 ms (missed cycles : 3).[0m ×2 + 39.47sWARNcontroller_managerOverrun might occur, Total time : 3752.340 us (Expected < 1666.667 us) --> Read time : 166.753 us, Update time : 75.231 us, Write time : 3510.356 us + 39.47sWARNros2_control_nodeOverrun might occur, Total time : 3752.340 us (Expected < 1666.667 us) --> Read time : 166.753 us, Update time : 75.231 us, Write time : 3510.356 us[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178718 ms (missed cycles : 2). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178718 ms (missed cycles : 2).[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118104 ms (missed cycles : 5). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118104 ms (missed cycles : 5).[0m ×2 + 41.60sWARNcontroller_managerOverrun might occur, Total time : 3783.761 us (Expected < 1666.667 us) --> Read time : 172.313 us, Update time : 3282.022 us, Write time : 329.426 us + 41.60sWARNros2_control_nodeOverrun might occur, Total time : 3783.761 us (Expected < 1666.667 us) --> Read time : 172.313 us, Update time : 3282.022 us, Write time : 329.426 us[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120155 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120155 ms (missed cycles : 3).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131513 ms (missed cycles : 3). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131513 ms (missed cycles : 3).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7).[0m ×2 + 44.15sWARNcontroller_managerOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us + 44.15sWARNros2_control_nodeOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us[0m ×2 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3).[0m ×2 + 45.43sWARNcontroller_managerOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us + 45.43sWARNros2_control_nodeOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3).[0m ×2 + 47.00sWARNcontroller_managerOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us + 47.00sWARNros2_control_nodeOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4).[0m ×2 + 47.53sINFOjoint_trajectory_controllerGoal reached, success! + 47.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781203915.75356150 seconds ×3 + 48.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781203916.29111409 seconds. ×3 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2).[0m ×2 + 48.24sWARNcontroller_managerOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us + 48.24sWARNros2_control_nodeOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us[0m ×2 + 49.02sINFOobjective_server_nodeFound path in 0 iterations (2.7071e-05 s). ×2 + 49.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6).[0m ×2 + 49.33sWARNcontroller_managerOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us + 49.33sWARNros2_control_nodeOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us[0m ×2 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2). + 50.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2).[0m ×2 + 50.61sWARNcontroller_managerOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us + 50.61sWARNros2_control_nodeOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 189 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 0.43sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 0.43sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729498 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729498 ms (missed cycles : 3).[0m ×2 + 1.48sWARNcontroller_managerOverrun might occur, Total time : 2839.663 us (Expected < 1666.667 us) --> Read time : 494.480 us, Update time : 1954.766 us, Write time : 390.417 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 2839.663 us (Expected < 1666.667 us) --> Read time : 494.480 us, Update time : 1954.766 us, Write time : 390.417 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734231 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734231 ms (missed cycles : 6).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.25sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781203981.14903998 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669948 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669948 ms (missed cycles : 3).[0m ×2 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 2604.998 us (Expected < 1666.667 us) --> Read time : 143.342 us, Update time : 1970.627 us, Write time : 491.029 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2604.998 us (Expected < 1666.667 us) --> Read time : 143.342 us, Update time : 1970.627 us, Write time : 491.029 us[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781203982.70021248 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958988 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958988 ms (missed cycles : 6).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun might occur, Total time : 2382.864 us (Expected < 1666.667 us) --> Read time : 1838.074 us, Update time : 158.483 us, Write time : 386.307 us + 4.45sWARNros2_control_nodeOverrun might occur, Total time : 2382.864 us (Expected < 1666.667 us) --> Read time : 1838.074 us, Update time : 158.483 us, Write time : 386.307 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854974 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854974 ms (missed cycles : 5).[0m ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.88sWARNcontroller_managerOverrun might occur, Total time : 1740.472 us (Expected < 1666.667 us) --> Read time : 150.133 us, Update time : 1250.333 us, Write time : 340.006 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 1740.472 us (Expected < 1666.667 us) --> Read time : 150.133 us, Update time : 1250.333 us, Write time : 340.006 us[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.392980 ms (missed cycles : 7). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.392980 ms (missed cycles : 7).[0m ×2 + 7.14sWARNcontroller_managerOverrun might occur, Total time : 1820.074 us (Expected < 1666.667 us) --> Read time : 353.387 us, Update time : 616.131 us, Write time : 850.556 us + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098641 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun might occur, Total time : 1820.074 us (Expected < 1666.667 us) --> Read time : 353.387 us, Update time : 616.131 us, Write time : 850.556 us[0m ×2 + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098641 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743817 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743817 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun might occur, Total time : 2241.332 us (Expected < 1666.667 us) --> Read time : 132.372 us, Update time : 1648.771 us, Write time : 460.189 us + 8.24sWARNros2_control_nodeOverrun might occur, Total time : 2241.332 us (Expected < 1666.667 us) --> Read time : 132.372 us, Update time : 1648.771 us, Write time : 460.189 us[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832755 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832755 ms (missed cycles : 3).[0m ×2 + 9.34sWARNcontroller_managerOverrun might occur, Total time : 2925.833 us (Expected < 1666.667 us) --> Read time : 130.842 us, Update time : 2491.856 us, Write time : 303.135 us + 9.34sWARNros2_control_nodeOverrun might occur, Total time : 2925.833 us (Expected < 1666.667 us) --> Read time : 130.842 us, Update time : 2491.856 us, Write time : 303.135 us[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135812 ms (missed cycles : 5). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135812 ms (missed cycles : 5).[0m ×2 + 10.51sWARNcontroller_managerOverrun might occur, Total time : 1918.815 us (Expected < 1666.667 us) --> Read time : 191.843 us, Update time : 167.053 us, Write time : 1559.919 us + 10.51sWARNros2_control_nodeOverrun might occur, Total time : 1918.815 us (Expected < 1666.667 us) --> Read time : 191.843 us, Update time : 167.053 us, Write time : 1559.919 us[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485942 ms (missed cycles : 4). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485942 ms (missed cycles : 4).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814205 ms (missed cycles : 2). + 12.35sWARNcontroller_managerOverrun might occur, Total time : 2045.718 us (Expected < 1666.667 us) --> Read time : 162.753 us, Update time : 1446.937 us, Write time : 436.028 us + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814205 ms (missed cycles : 2).[0m ×2 + 12.35sWARNros2_control_nodeOverrun might occur, Total time : 2045.718 us (Expected < 1666.667 us) --> Read time : 162.753 us, Update time : 1446.937 us, Write time : 436.028 us[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479227 ms (missed cycles : 3). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479227 ms (missed cycles : 3).[0m ×2 + 13.45sWARNcontroller_managerOverrun might occur, Total time : 2072.469 us (Expected < 1666.667 us) --> Read time : 132.123 us, Update time : 158.413 us, Write time : 1781.933 us + 13.45sWARNros2_control_nodeOverrun might occur, Total time : 2072.469 us (Expected < 1666.667 us) --> Read time : 132.123 us, Update time : 158.413 us, Write time : 1781.933 us[0m ×2 + 13.48sINFOros2_control_nodeMuJoCo sim: 0.86% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402823 ms (missed cycles : 6). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402823 ms (missed cycles : 6).[0m ×2 + 14.77sWARNcontroller_managerOverrun might occur, Total time : 2652.810 us (Expected < 1666.667 us) --> Read time : 192.824 us, Update time : 1984.477 us, Write time : 475.509 us + 14.78sWARNros2_control_nodeOverrun might occur, Total time : 2652.810 us (Expected < 1666.667 us) --> Read time : 192.824 us, Update time : 1984.477 us, Write time : 475.509 us[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689550 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689550 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108900 ms (missed cycles : 4). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108900 ms (missed cycles : 4).[0m ×2 + 17.45sWARNcontroller_managerOverrun might occur, Total time : 2020.427 us (Expected < 1666.667 us) --> Read time : 225.834 us, Update time : 1352.285 us, Write time : 442.308 us + 17.45sWARNros2_control_nodeOverrun might occur, Total time : 2020.427 us (Expected < 1666.667 us) --> Read time : 225.834 us, Update time : 1352.285 us, Write time : 442.308 us[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277354 ms (missed cycles : 5). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277354 ms (missed cycles : 5).[0m ×2 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445566 ms (missed cycles : 2). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445566 ms (missed cycles : 2).[0m ×2 + 18.75sWARNcontroller_managerOverrun might occur, Total time : 4386.112 us (Expected < 1666.667 us) --> Read time : 146.152 us, Update time : 3850.542 us, Write time : 389.418 us + 18.75sWARNros2_control_nodeOverrun might occur, Total time : 4386.112 us (Expected < 1666.667 us) --> Read time : 146.152 us, Update time : 3850.542 us, Write time : 389.418 us[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583001 ms (missed cycles : 4). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583001 ms (missed cycles : 4).[0m ×2 + 19.97sWARNcontroller_managerOverrun might occur, Total time : 2054.638 us (Expected < 1666.667 us) --> Read time : 144.003 us, Update time : 1563.869 us, Write time : 346.766 us + 19.97sWARNros2_control_nodeOverrun might occur, Total time : 2054.638 us (Expected < 1666.667 us) --> Read time : 144.003 us, Update time : 1563.869 us, Write time : 346.766 us[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872416 ms (missed cycles : 4). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872416 ms (missed cycles : 4).[0m ×2 + 21.17sWARNcontroller_managerOverrun might occur, Total time : 1733.803 us (Expected < 1666.667 us) --> Read time : 285.516 us, Update time : 116.342 us, Write time : 1331.945 us + 21.18sWARNros2_control_nodeOverrun might occur, Total time : 1733.803 us (Expected < 1666.667 us) --> Read time : 285.516 us, Update time : 116.342 us, Write time : 1331.945 us[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904117 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904117 ms (missed cycles : 2).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356053 ms (missed cycles : 4). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356053 ms (missed cycles : 4).[0m ×2 + 22.98sWARNcontroller_managerOverrun might occur, Total time : 3894.452 us (Expected < 1666.667 us) --> Read time : 3272.191 us, Update time : 137.863 us, Write time : 484.398 us + 22.98sWARNros2_control_nodeOverrun might occur, Total time : 3894.452 us (Expected < 1666.667 us) --> Read time : 3272.191 us, Update time : 137.863 us, Write time : 484.398 us[0m ×2 + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953008 ms (missed cycles : 5). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953008 ms (missed cycles : 5).[0m ×2 + 24.51sWARNcontroller_managerOverrun might occur, Total time : 1780.092 us (Expected < 1666.667 us) --> Read time : 120.432 us, Update time : 1271.803 us, Write time : 387.857 us + 24.51sWARNros2_control_nodeOverrun might occur, Total time : 1780.092 us (Expected < 1666.667 us) --> Read time : 120.432 us, Update time : 1271.803 us, Write time : 387.857 us[0m ×2 + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927153 ms (missed cycles : 3). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927153 ms (missed cycles : 3).[0m ×2 + 26.00sWARNcontroller_managerOverrun might occur, Total time : 3440.984 us (Expected < 1666.667 us) --> Read time : 159.393 us, Update time : 103.632 us, Write time : 3177.959 us + 26.00sWARNros2_control_nodeOverrun might occur, Total time : 3440.984 us (Expected < 1666.667 us) --> Read time : 159.393 us, Update time : 103.632 us, Write time : 3177.959 us[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813100 ms (missed cycles : 4). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813100 ms (missed cycles : 4).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766390 ms (missed cycles : 2). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766390 ms (missed cycles : 2).[0m ×2 + 27.15sWARNcontroller_managerOverrun might occur, Total time : 3179.829 us (Expected < 1666.667 us) --> Read time : 703.663 us, Update time : 693.313 us, Write time : 1782.853 us + 27.15sWARNros2_control_nodeOverrun might occur, Total time : 3179.829 us (Expected < 1666.667 us) --> Read time : 703.663 us, Update time : 693.313 us, Write time : 1782.853 us[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606127 ms (missed cycles : 4). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606127 ms (missed cycles : 4).[0m ×2 + 28.30sWARNcontroller_managerOverrun might occur, Total time : 5043.003 us (Expected < 1666.667 us) --> Read time : 155.553 us, Update time : 4317.210 us, Write time : 570.240 us + 28.30sWARNros2_control_nodeOverrun might occur, Total time : 5043.003 us (Expected < 1666.667 us) --> Read time : 155.553 us, Update time : 4317.210 us, Write time : 570.240 us[0m ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738041 ms (missed cycles : 6). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738041 ms (missed cycles : 6).[0m ×2 + 29.36sWARNcontroller_managerOverrun might occur, Total time : 1898.386 us (Expected < 1666.667 us) --> Read time : 142.583 us, Update time : 1433.247 us, Write time : 322.556 us + 29.36sWARNros2_control_nodeOverrun might occur, Total time : 1898.386 us (Expected < 1666.667 us) --> Read time : 142.583 us, Update time : 1433.247 us, Write time : 322.556 us[0m ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775780 ms (missed cycles : 3). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775780 ms (missed cycles : 3).[0m ×2 + 30.77sWARNcontroller_managerOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us + 30.77sWARNros2_control_nodeOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us[0m ×2 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3).[0m ×2 + 32.24sWARNcontroller_managerOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us + 32.24sWARNros2_control_nodeOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us[0m ×2 + 32.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6).[0m ×2 + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3).[0m ×2 + 33.84sWARNcontroller_managerOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us + 33.85sWARNros2_control_nodeOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us[0m ×2 + 34.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781204013.07038713 seconds ×3 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7).[0m ×2 + 34.72sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781204013.61968231 seconds. ×3 + 34.96sWARNcontroller_managerOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us + 34.96sWARNros2_control_nodeOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us[0m ×2 + 35.06sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 35.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6). + 35.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6).[0m ×2 + 36.16sWARNcontroller_managerOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us + 36.16sWARNros2_control_nodeOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us[0m ×2 + 36.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.6s | 78 errors · 57 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2).[0m ×2 + 0.16sWARNcontroller_managerOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us + 0.16sWARNros2_control_nodeOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781204221.48374677 seconds ×3 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3).[0m ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us + 3.20sWARNros2_control_nodeOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781204222.07009077 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781204222.55043054 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781204223.08798432 seconds. ×3 + 4.71sWARNcontroller_managerOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781204223.71270704 seconds ×3 + 5.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494861 ms (missed cycles : 5). + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1699.721 us (Expected < 1666.667 us) --> Read time : 195.103 us, Update time : 1044.540 us, Write time : 460.078 us + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070975 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494861 ms (missed cycles : 5).[0m ×2 + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 1699.721 us (Expected < 1666.667 us) --> Read time : 195.103 us, Update time : 1044.540 us, Write time : 460.078 us[0m ×2 + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070975 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153724 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153724 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184148 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184148 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654349 ms (missed cycles : 6). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654349 ms (missed cycles : 6).[0m ×2 + 10.25sWARNcontroller_managerOverrun might occur, Total time : 1822.153 us (Expected < 1666.667 us) --> Read time : 150.552 us, Update time : 1226.943 us, Write time : 444.658 us + 10.25sWARNros2_control_nodeOverrun might occur, Total time : 1822.153 us (Expected < 1666.667 us) --> Read time : 150.552 us, Update time : 1226.943 us, Write time : 444.658 us[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113806 ms (missed cycles : 6). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113806 ms (missed cycles : 6).[0m ×2 + 11.27sWARNcontroller_managerOverrun might occur, Total time : 3060.577 us (Expected < 1666.667 us) --> Read time : 153.753 us, Update time : 128.392 us, Write time : 2778.432 us + 11.28sWARNros2_control_nodeOverrun might occur, Total time : 3060.577 us (Expected < 1666.667 us) --> Read time : 153.753 us, Update time : 128.392 us, Write time : 2778.432 us[0m ×2 + 11.33sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.35sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.39sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.45sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.46sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.48sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.48sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.50sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.52sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553720 ms (missed cycles : 3). + 11.54sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.56sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.58sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.60sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.62sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.63sINFOweb_video_server-31process has finished cleanly [pid 10442] ×2 + 11.63sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10441] ×2 + 11.65sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.65sINFOcontroller_managerShutdown request received.... + 11.65sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.65sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.65sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.65sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.65sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.65sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.65sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.65sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.65sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.65sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.65sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.65sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.65sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.65sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.65sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.65sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.65sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.65sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.65sINFOcontroller_managerShutting down the controller manager. + 11.67sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.68sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.69sERRORmove_group-20process has died [pid 10359, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_6bsdktjv --params-file /tmp/launch_params_d9depvie --params-file /tmp/launch_params_3feliq6w --params-file /tmp/launch_params_c5md_of8 --params-file /tmp/launch_params_1vi_jk9n --params-file /tmp/launch_params_0lvg58z3 --params-file /tmp/launch_params_3vy5w_cm --params-file /tmp/launch_params_nwhffazh --params-file /tmp/launch_params_0dnthv8d']. ×2 + 11.71sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.72sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.74sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.76sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.77sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.77sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.77sINFOmap_serverDeactivating + 11.77sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.77sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.77sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.77sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.77sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.77sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.77sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.77sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.78sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.78sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.78sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.78sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.78sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.78sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553720 ms (missed cycles : 3).[0m ×2 + 11.78sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.78sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.78sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.78sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.78sERRORmove_groupStack trace (most recent call last) in thread 10927: ×2 + 11.78sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.78sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdecdf9a63, in __clone ×2 + 11.78sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdecd6caa3, in ×2 + 11.78sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdecffedb3, in ×2 + 11.78sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7fbded65319a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.78sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbded3714d0, in rclcpp::Rate::sleep() ×2 + 11.78sINFOmap_serverCleaning up + 11.78sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbded2c4a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.78sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbded289a71, in ×2 + 11.78sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.78sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdecfcd390, in __cxa_throw ×2 + 11.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdecfb7a54, in std::terminate() ×2 + 11.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdecfcd0d9, in ×2 + 11.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdecfb7ff4, in ×2 + 11.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdeccf88fe, in abort ×2 + 11.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdecd1527d, in raise ×2 + 11.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdecd6eb2c, in pthread_kill ×2 + 11.78sERRORmove_groupAborted (Signal sent by tkill() 10359 0) ×2 + 11.79sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.79sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.79sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.79sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.79sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.79sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.79sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.79sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.79sINFOobjective_server_node[2026-06-11 18:57:10.388] [moveit_pro_license] [info] ×2 + 11.79sINFOobjective_server_node************************************************* ×4 + 11.79sINFOobjective_server_node* MoveIt Pro License ×2 + 11.79sINFOobjective_server_node* Application has successfully terminated ×2 + 11.79sERRORobjective_server_node_main-25process has died [pid 10425, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_9syr4ztf --params-file /tmp/launch_params_ftds0pas --params-file /tmp/launch_params_p4x0hnds --params-file /tmp/launch_params_29x4fdan --params-file /tmp/launch_params_v6kfn3ie --params-file /tmp/launch_params_xc2t1fpg']. ×2 + 11.79sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.79sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.79sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.79sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b6008c6a4, in _start ×2 + 11.79sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84f87b228a, in __libc_start_main ×2 + 11.79sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84f87b21d0, in ×2 + 11.79sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84f87cfbbd, in exit ×2 + 11.79sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84f87cfa75, in ×2 + 11.79sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f84f8ca14a2, in spdlog::details::registry::~registry() ×2 + 11.79sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f84f8cac69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.79sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f84f8ca6965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.79sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b60093315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.79sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b600925a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.79sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b6008eb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.79sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b6008cd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.79sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f84f9324454, in rclcpp::Node::~Node() ×2 + 11.79sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f84f92df515, in ×2 + 11.79sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f84f9322d20, in ×2 + 11.79sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f84f9322c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.79sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f84f92df5d9, in ×2 + 11.79sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f84f92e4161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.79sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f84c4a66450]) ×2 + 11.80sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.80sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.80sINFOodom_qos_relay.pymain() ×2 + 11.80sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.80sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.80sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.80sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.80sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.80sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.80sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.80sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.80sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 11.80sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.80sINFOcontroller_serverCleaning up + 11.80sINFOlocal_costmap.local_costmapCleaning up + 11.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.80sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.84sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.84sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.84sINFOsmoother_serverCleaning up + 11.85sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.85sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.85sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.85sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.85sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.85sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.85sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.85sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.85sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.85sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.85sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.85sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.87sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.87sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.87sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.59sERRORui_teleop_bridge-28process has died [pid 10428, 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__qm9cppi']. ×2 + 12.59sINFOexecute_objective_bridge-27process has finished cleanly [pid 10427] ×2 + 12.60sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10424] ×2 + 12.61sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10364] ×2 + 12.67sINFOparameter_manager_node-21process has finished cleanly [pid 10361] ×2 + 12.68sINFOwaypoint_manager_node-22process has finished cleanly [pid 10363] ×2 + 12.72sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10256] ×2 + 12.74sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10255] ×2 + 12.76sINFOstatic_transform_publisher-4process has finished cleanly [pid 10253] ×2 + 12.78sINFOstatic_transform_publisher-3process has finished cleanly [pid 10252] ×2 + 12.80sINFOstatic_transform_publisher-2process has finished cleanly [pid 10251] ×2 + 12.80sERRORodom_qos_relay.py-5process has died [pid 10254, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.80sINFOcomponent_container_mt-26process has finished cleanly [pid 10426] ×2 + 14.23sINFOweb_bridge-29process has finished cleanly [pid 10431] ×2 + 14.23sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.47sINFOros2_control_node-8process has finished cleanly [pid 10257] ×2 + 16.33sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.35sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 16.36sERRORcomponent_container_isolated-1process has died [pid 10250, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_c52aovtz --params-file /tmp/launch_params_2jh35ner -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.9s | 94 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226072 ms (missed cycles : 2).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 2315.434 us (Expected < 1666.667 us) --> Read time : 134.343 us, Update time : 1881.855 us, Write time : 299.236 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2315.434 us (Expected < 1666.667 us) --> Read time : 134.343 us, Update time : 1881.855 us, Write time : 299.236 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066759 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066759 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 3265.401 us (Expected < 1666.667 us) --> Read time : 113.432 us, Update time : 2400.535 us, Write time : 751.434 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 3265.401 us (Expected < 1666.667 us) --> Read time : 113.432 us, Update time : 2400.535 us, Write time : 751.434 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352360 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352360 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun might occur, Total time : 1828.764 us (Expected < 1666.667 us) --> Read time : 126.192 us, Update time : 1329.345 us, Write time : 373.227 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 1828.764 us (Expected < 1666.667 us) --> Read time : 126.192 us, Update time : 1329.345 us, Write time : 373.227 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614356 ms (missed cycles : 4).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781204208.61280155 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 1714.892 us (Expected < 1666.667 us) --> Read time : 758.974 us, Update time : 140.332 us, Write time : 815.586 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 1714.892 us (Expected < 1666.667 us) --> Read time : 758.974 us, Update time : 140.332 us, Write time : 815.586 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781204209.16976070 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_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 4.117235 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117235 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 4133.467 us (Expected < 1666.667 us) --> Read time : 148.923 us, Update time : 3591.827 us, Write time : 392.717 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4133.467 us (Expected < 1666.667 us) --> Read time : 148.923 us, Update time : 3591.827 us, Write time : 392.717 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947364 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947364 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 3666.238 us (Expected < 1666.667 us) --> Read time : 139.693 us, Update time : 3078.807 us, Write time : 447.738 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 3666.238 us (Expected < 1666.667 us) --> Read time : 139.693 us, Update time : 3078.807 us, Write time : 447.738 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058597 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058597 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957346 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957346 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun might occur, Total time : 2478.826 us (Expected < 1666.667 us) --> Read time : 151.543 us, Update time : 1939.156 us, Write time : 388.127 us + 7.45sWARNros2_control_nodeOverrun might occur, Total time : 2478.826 us (Expected < 1666.667 us) --> Read time : 151.543 us, Update time : 1939.156 us, Write time : 388.127 us[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529895 ms (missed cycles : 6). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529895 ms (missed cycles : 6).[0m ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.17sINFOobjective_server_nodeFound path in 69 iterations (0.050035 s). ×2 + 9.29sWARNcontroller_managerOverrun might occur, Total time : 2765.971 us (Expected < 1666.667 us) --> Read time : 192.673 us, Update time : 2182.841 us, Write time : 390.457 us + 9.29sWARNros2_control_nodeOverrun might occur, Total time : 2765.971 us (Expected < 1666.667 us) --> Read time : 192.673 us, Update time : 2182.841 us, Write time : 390.457 us[0m ×2 + 9.36sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967642 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967642 ms (missed cycles : 3).[0m ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.24sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.37sWARNcontroller_managerOverrun might occur, Total time : 1679.851 us (Expected < 1666.667 us) --> Read time : 164.173 us, Update time : 1069.870 us, Write time : 445.808 us + 10.38sWARNros2_control_nodeOverrun might occur, Total time : 1679.851 us (Expected < 1666.667 us) --> Read time : 164.173 us, Update time : 1069.870 us, Write time : 445.808 us[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865551 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865551 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662604 ms (missed cycles : 4). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662604 ms (missed cycles : 4).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264290 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264290 ms (missed cycles : 3).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us + 13.65sWARNros2_control_nodeOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3).[0m ×2 + 15.34sWARNcontroller_managerOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us + 15.34sWARNros2_control_nodeOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us[0m ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2).[0m ×2 + 16.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781204221.48374677 seconds ×3 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3).[0m ×2 + 16.69sWARNcontroller_managerOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us + 16.69sWARNros2_control_nodeOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us[0m ×2 + 16.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781204222.07009077 seconds. ×3 + 16.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.83sINFOmove_groupClearing octomap...[0m ×2 + 16.83sINFOmove_groupOctomap cleared.[0m ×2 + 17.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781204222.55043054 seconds ×3 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3).[0m ×2 + 17.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781204223.08798432 seconds. ×3 + 18.20sWARNcontroller_managerOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us + 18.20sWARNros2_control_nodeOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us[0m ×2 + 18.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781204223.71270704 seconds ×3 + 18.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494861 ms (missed cycles : 5). | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 93 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3138.509 us (Expected < 1666.667 us) --> Read time : 2640.509 us, Update time : 161.333 us, Write time : 336.667 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3138.509 us (Expected < 1666.667 us) --> Read time : 2640.509 us, Update time : 161.333 us, Write time : 336.667 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813851 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813851 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203507 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203507 ms (missed cycles : 5).[0m ×2 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 3932.673 us (Expected < 1666.667 us) --> Read time : 141.483 us, Update time : 98.692 us, Write time : 3692.498 us + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 3932.673 us (Expected < 1666.667 us) --> Read time : 141.483 us, Update time : 98.692 us, Write time : 3692.498 us[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897958 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897958 ms (missed cycles : 3).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2194.941 us (Expected < 1666.667 us) --> Read time : 652.843 us, Update time : 692.042 us, Write time : 850.056 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2194.941 us (Expected < 1666.667 us) --> Read time : 652.843 us, Update time : 692.042 us, Write time : 850.056 us[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781204067.33142567 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136957 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136957 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781204067.87900829 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 3827.811 us (Expected < 1666.667 us) --> Read time : 541.850 us, Update time : 2723.101 us, Write time : 562.860 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 3827.811 us (Expected < 1666.667 us) --> Read time : 541.850 us, Update time : 2723.101 us, Write time : 562.860 us[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673949 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673949 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935001 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935001 ms (missed cycles : 5).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 1855.695 us (Expected < 1666.667 us) --> Read time : 147.043 us, Update time : 564.151 us, Write time : 1144.501 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 1855.695 us (Expected < 1666.667 us) --> Read time : 147.043 us, Update time : 564.151 us, Write time : 1144.501 us[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215165 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215165 ms (missed cycles : 4).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764210 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764210 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun might occur, Total time : 3474.994 us (Expected < 1666.667 us) --> Read time : 149.122 us, Update time : 2923.865 us, Write time : 402.007 us + 7.61sWARNros2_control_nodeOverrun might occur, Total time : 3474.994 us (Expected < 1666.667 us) --> Read time : 149.122 us, Update time : 2923.865 us, Write time : 402.007 us[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773239 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773239 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun might occur, Total time : 2086.729 us (Expected < 1666.667 us) --> Read time : 149.133 us, Update time : 1637.140 us, Write time : 300.456 us + 8.93sWARNros2_control_nodeOverrun might occur, Total time : 2086.729 us (Expected < 1666.667 us) --> Read time : 149.133 us, Update time : 1637.140 us, Write time : 300.456 us[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580926 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580926 ms (missed cycles : 3).[0m ×2 + 10.07sWARNcontroller_managerOverrun might occur, Total time : 3051.607 us (Expected < 1666.667 us) --> Read time : 130.173 us, Update time : 1601.620 us, Write time : 1319.814 us + 10.08sWARNros2_control_nodeOverrun might occur, Total time : 3051.607 us (Expected < 1666.667 us) --> Read time : 130.173 us, Update time : 1601.620 us, Write time : 1319.814 us[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878690 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878690 ms (missed cycles : 3).[0m ×2 + 11.13sWARNcontroller_managerOverrun might occur, Total time : 1973.617 us (Expected < 1666.667 us) --> Read time : 353.796 us, Update time : 1153.522 us, Write time : 466.299 us + 11.13sWARNros2_control_nodeOverrun might occur, Total time : 1973.617 us (Expected < 1666.667 us) --> Read time : 353.796 us, Update time : 1153.522 us, Write time : 466.299 us[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901485 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901485 ms (missed cycles : 3).[0m ×2 + 12.16sWARNcontroller_managerOverrun might occur, Total time : 3127.108 us (Expected < 1666.667 us) --> Read time : 125.742 us, Update time : 131.812 us, Write time : 2869.554 us + 12.16sWARNros2_control_nodeOverrun might occur, Total time : 3127.108 us (Expected < 1666.667 us) --> Read time : 125.742 us, Update time : 131.812 us, Write time : 2869.554 us[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702323 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702323 ms (missed cycles : 2).[0m ×2 + 13.51sWARNcontroller_managerOverrun might occur, Total time : 1685.921 us (Expected < 1666.667 us) --> Read time : 136.102 us, Update time : 1222.383 us, Write time : 327.436 us + 13.52sWARNros2_control_nodeOverrun might occur, Total time : 1685.921 us (Expected < 1666.667 us) --> Read time : 136.102 us, Update time : 1222.383 us, Write time : 327.436 us[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585395 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585395 ms (missed cycles : 3).[0m ×2 + 14.29sINFOjoint_trajectory_controllerGot request to cancel goal + 14.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781204078.25953078 seconds ×3 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147517 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147517 ms (missed cycles : 2).[0m ×2 + 14.86sWARNcontroller_managerOverrun might occur, Total time : 3291.051 us (Expected < 1666.667 us) --> Read time : 131.043 us, Update time : 2767.421 us, Write time : 392.587 us + 14.86sWARNros2_control_nodeOverrun might occur, Total time : 3291.051 us (Expected < 1666.667 us) --> Read time : 131.043 us, Update time : 2767.421 us, Write time : 392.587 us[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781204078.81405067 seconds. ×3 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663303 ms (missed cycles : 4). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663303 ms (missed cycles : 4).[0m ×2 + 15.93sWARNcontroller_managerOverrun might occur, Total time : 4309.671 us (Expected < 1666.667 us) --> Read time : 136.243 us, Update time : 3800.931 us, Write time : 372.497 us + 15.93sWARNros2_control_nodeOverrun might occur, Total time : 4309.671 us (Expected < 1666.667 us) --> Read time : 136.243 us, Update time : 3800.931 us, Write time : 372.497 us[0m ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737668 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737668 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun might occur, Total time : 5140.114 us (Expected < 1666.667 us) --> Read time : 152.072 us, Update time : 4610.575 us, Write time : 377.467 us + 17.11sWARNros2_control_nodeOverrun might occur, Total time : 5140.114 us (Expected < 1666.667 us) --> Read time : 152.072 us, Update time : 4610.575 us, Write time : 377.467 us[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 63 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3).[0m ×2 + 0.24sWARNcontroller_managerOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203976.61155295 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203977.16887641 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729498 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729498 ms (missed cycles : 3).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 2839.663 us (Expected < 1666.667 us) --> Read time : 494.480 us, Update time : 1954.766 us, Write time : 390.417 us + 6.73sWARNros2_control_nodeOverrun might occur, Total time : 2839.663 us (Expected < 1666.667 us) --> Read time : 494.480 us, Update time : 1954.766 us, Write time : 390.417 us[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734231 ms (missed cycles : 6). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734231 ms (missed cycles : 6).[0m ×2 + 7.50sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781203981.14903998 seconds ×3 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669948 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669948 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun might occur, Total time : 2604.998 us (Expected < 1666.667 us) --> Read time : 143.342 us, Update time : 1970.627 us, Write time : 491.029 us + 8.69sWARNros2_control_nodeOverrun might occur, Total time : 2604.998 us (Expected < 1666.667 us) --> Read time : 143.342 us, Update time : 1970.627 us, Write time : 491.029 us[0m ×2 + 9.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781203982.70021248 seconds. ×3 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958988 ms (missed cycles : 6). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958988 ms (missed cycles : 6).[0m ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 9.71sWARNcontroller_managerOverrun might occur, Total time : 2382.864 us (Expected < 1666.667 us) --> Read time : 1838.074 us, Update time : 158.483 us, Write time : 386.307 us + 9.71sWARNros2_control_nodeOverrun might occur, Total time : 2382.864 us (Expected < 1666.667 us) --> Read time : 1838.074 us, Update time : 158.483 us, Write time : 386.307 us[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854974 ms (missed cycles : 5). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854974 ms (missed cycles : 5).[0m ×2 + 10.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.14sWARNcontroller_managerOverrun might occur, Total time : 1740.472 us (Expected < 1666.667 us) --> Read time : 150.133 us, Update time : 1250.333 us, Write time : 340.006 us + 11.14sWARNros2_control_nodeOverrun might occur, Total time : 1740.472 us (Expected < 1666.667 us) --> Read time : 150.133 us, Update time : 1250.333 us, Write time : 340.006 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.392980 ms (missed cycles : 7). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.392980 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 54 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7).[0m ×2 + 0.14sWARNcontroller_managerOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3).[0m ×2 + 1.42sWARNcontroller_managerOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3).[0m ×2 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781203915.75356150 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781203916.29111409 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us[0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.7071e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us[0m ×2 + 7.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781203919.36127138 seconds ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185595 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185595 ms (missed cycles : 4).[0m ×2 + 7.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781203919.91142368 seconds. ×3 + 7.89sWARNcontroller_managerOverrun might occur, Total time : 1775.713 us (Expected < 1666.667 us) --> Read time : 134.783 us, Update time : 1186.422 us, Write time : 454.508 us + 7.89sWARNros2_control_nodeOverrun might occur, Total time : 1775.713 us (Expected < 1666.667 us) --> Read time : 134.783 us, Update time : 1186.422 us, Write time : 454.508 us[0m ×2 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160775 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160775 ms (missed cycles : 5).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773037 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773037 ms (missed cycles : 2).[0m ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.69sWARNcontroller_managerOverrun might occur, Total time : 1669.601 us (Expected < 1666.667 us) --> Read time : 756.294 us, Update time : 204.154 us, Write time : 709.153 us + 9.69sWARNros2_control_nodeOverrun might occur, Total time : 1669.601 us (Expected < 1666.667 us) --> Read time : 756.294 us, Update time : 204.154 us, Write time : 709.153 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 39 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264290 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3).[0m ×2 + 2.93sWARNcontroller_managerOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us + 2.93sWARNros2_control_nodeOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781204221.48374677 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3).[0m ×2 + 4.29sWARNcontroller_managerOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us + 4.29sWARNros2_control_nodeOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781204222.07009077 seconds. ×3 + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.42sINFOmove_groupClearing octomap...[0m ×2 + 4.42sINFOmove_groupOctomap cleared.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781204222.55043054 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781204223.08798432 seconds. ×3 + 5.80sWARNcontroller_managerOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781204223.71270704 seconds ×3 + 6.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494861 ms (missed cycles : 5). + 7.11sWARNcontroller_managerOverrun might occur, Total time : 1699.721 us (Expected < 1666.667 us) --> Read time : 195.103 us, Update time : 1044.540 us, Write time : 460.078 us + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070975 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494861 ms (missed cycles : 5).[0m ×2 + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 1699.721 us (Expected < 1666.667 us) --> Read time : 195.103 us, Update time : 1044.540 us, Write time : 460.078 us[0m ×2 + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070975 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 33 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781203915.75356150 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781203916.29111409 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us + 0.72sWARNros2_control_nodeOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us[0m ×2 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (2.7071e-05 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6).[0m ×2 + 1.81sWARNcontroller_managerOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us + 1.81sWARNros2_control_nodeOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us + 3.09sWARNros2_control_nodeOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781203919.36127138 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185595 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185595 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781203919.91142368 seconds. ×3 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 1775.713 us (Expected < 1666.667 us) --> Read time : 134.783 us, Update time : 1186.422 us, Write time : 454.508 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 1775.713 us (Expected < 1666.667 us) --> Read time : 134.783 us, Update time : 1186.422 us, Write time : 454.508 us[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160775 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160775 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773037 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773037 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1669.601 us (Expected < 1666.667 us) --> Read time : 756.294 us, Update time : 204.154 us, Write time : 709.153 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1669.601 us (Expected < 1666.667 us) --> Read time : 756.294 us, Update time : 204.154 us, Write time : 709.153 us[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3).[0m ×2 + 0.24sWARNcontroller_managerOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203976.61155295 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203977.16887641 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3).[0m ×2 + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3).[0m ×2 + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3).[0m ×2 + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3).[0m ×2 + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323755 ms (missed cycles : 5).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 3190.560 us (Expected < 1666.667 us) --> Read time : 141.613 us, Update time : 111.572 us, Write time : 2937.375 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867764 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 2843.792 us (Expected < 1666.667 us) --> Read time : 197.103 us, Update time : 1565.719 us, Write time : 1080.970 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706453 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1784.503 us (Expected < 1666.667 us) --> Read time : 199.083 us, Update time : 390.848 us, Write time : 1194.572 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805165 ms (missed cycles : 3).[0m ×2 + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 33 warnings · 72 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.02sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 0.52sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 0.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 0.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2). + 3.70sERRORobjective_server_nodeNavigateToPoseAction Error: Action server '//navigate_to_pose' not available. ×3 + 3.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Semantic Navigate` did not succeed at time: 1781204151.57642651 seconds ×3 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781204152.23266077 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller_nav2 ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us + 4.56sWARNros2_control_nodeOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 39 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7).[0m ×2 + 0.14sWARNcontroller_managerOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3).[0m ×2 + 1.42sWARNcontroller_managerOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3).[0m ×2 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781203915.75356150 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781203916.29111409 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us[0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.7071e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 39 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020270 ms (missed cycles : 7).[0m ×2 + 0.14sWARNcontroller_managerOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 3096.368 us (Expected < 1666.667 us) --> Read time : 156.003 us, Update time : 431.538 us, Write time : 2508.827 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827659 ms (missed cycles : 3).[0m ×2 + 1.42sWARNcontroller_managerOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 2268.092 us (Expected < 1666.667 us) --> Read time : 180.923 us, Update time : 232.944 us, Write time : 1854.225 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341052 ms (missed cycles : 3).[0m ×2 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 5780.028 us (Expected < 1666.667 us) --> Read time : 162.873 us, Update time : 4810.560 us, Write time : 806.595 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599914 ms (missed cycles : 4).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781203915.75356150 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781203916.29111409 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920243 ms (missed cycles : 2).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2503.766 us (Expected < 1666.667 us) --> Read time : 127.812 us, Update time : 111.362 us, Write time : 2264.592 us[0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.7071e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731185 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 3535.126 us (Expected < 1666.667 us) --> Read time : 152.753 us, Update time : 3018.136 us, Write time : 364.237 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998608 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 1672.301 us (Expected < 1666.667 us) --> Read time : 170.793 us, Update time : 185.964 us, Write time : 1315.544 us[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 45 warnings · 1147 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.89sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.89sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 2.24sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3).[0m ×2 + 0.24sWARNcontroller_managerOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203976.61155295 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203977.16887641 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3).[0m ×2 + 0.24sWARNcontroller_managerOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203976.61155295 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203977.16887641 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3).[0m ×2 + 0.24sWARNcontroller_managerOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203976.61155295 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203977.16887641 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749858 ms (missed cycles : 3).[0m ×2 + 0.24sWARNcontroller_managerOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 2753.631 us (Expected < 1666.667 us) --> Read time : 136.642 us, Update time : 181.384 us, Write time : 2435.605 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747217 ms (missed cycles : 6).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1979.697 us (Expected < 1666.667 us) --> Read time : 118.463 us, Update time : 126.782 us, Write time : 1734.452 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380672 ms (missed cycles : 4).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 7704.013 us (Expected < 1666.667 us) --> Read time : 173.433 us, Update time : 7116.612 us, Write time : 413.968 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203976.61155295 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576924 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203977.16887641 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745914 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 2212.251 us (Expected < 1666.667 us) --> Read time : 144.123 us, Update time : 1714.862 us, Write time : 353.266 us[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685177 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 2312.522 us (Expected < 1666.667 us) --> Read time : 158.942 us, Update time : 1843.085 us, Write time : 310.495 us[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781204013.07038713 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781204013.61968231 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us + 4.20sWARNros2_control_nodeOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781204013.07038713 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781204013.61968231 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us + 4.20sWARNros2_control_nodeOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3078.797 us (Expected < 1666.667 us) --> Read time : 143.092 us, Update time : 2569.238 us, Write time : 366.467 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356622 ms (missed cycles : 3).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 2302.803 us (Expected < 1666.667 us) --> Read time : 198.324 us, Update time : 1576.419 us, Write time : 528.060 us[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720798 ms (missed cycles : 6).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145254 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 5151.115 us (Expected < 1666.667 us) --> Read time : 141.952 us, Update time : 4562.865 us, Write time : 446.298 us[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781204013.07038713 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364235 ms (missed cycles : 7).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781204013.61968231 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us + 4.20sWARNros2_control_nodeOverrun might occur, Total time : 7428.018 us (Expected < 1666.667 us) --> Read time : 146.423 us, Update time : 519.689 us, Write time : 6761.906 us[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869888 ms (missed cycles : 6).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 3023.196 us (Expected < 1666.667 us) --> Read time : 213.404 us, Update time : 2459.466 us, Write time : 350.326 us[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627049 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 45 warnings · 1147 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.89sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.89sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 2.24sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 45 warnings · 1147 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.89sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.89sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 2.24sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 33 warnings · 72 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.02sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 0.52sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 0.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 0.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2). + 3.70sERRORobjective_server_nodeNavigateToPoseAction Error: Action server '//navigate_to_pose' not available. ×3 + 3.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Semantic Navigate` did not succeed at time: 1781204151.57642651 seconds ×3 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781204152.23266077 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller_nav2 ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us + 4.56sWARNros2_control_nodeOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 33 warnings · 72 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.02sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781204147.89424157 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us + 0.52sWARNros2_control_nodeOverrun might occur, Total time : 5182.576 us (Expected < 1666.667 us) --> Read time : 381.377 us, Update time : 588.370 us, Write time : 4212.829 us[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485191 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781204148.44446564 seconds. ×3 + 0.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller ×3 + 0.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller ×3 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ] + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller_nav2 ] + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m ×2 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799079 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342526 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 1842.274 us (Expected < 1666.667 us) --> Read time : 165.933 us, Update time : 1332.945 us, Write time : 343.396 us[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2). + 3.70sERRORobjective_server_nodeNavigateToPoseAction Error: Action server '//navigate_to_pose' not available. ×3 + 3.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Semantic Navigate` did not succeed at time: 1781204151.57642651 seconds ×3 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263751 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781204152.23266077 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller_nav2 ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller_nav2 ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller_nav2 ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us + 4.56sWARNros2_control_nodeOverrun might occur, Total time : 2335.373 us (Expected < 1666.667 us) --> Read time : 141.623 us, Update time : 1588.189 us, Write time : 605.561 us[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514325 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 2434.925 us (Expected < 1666.667 us) --> Read time : 448.819 us, Update time : 96.001 us, Write time : 1890.105 us[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708580 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 2839.543 us (Expected < 1666.667 us) --> Read time : 150.553 us, Update time : 140.993 us, Write time : 2547.997 us[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 31 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264290 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716058 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 140.383 us, Update time : 1671.501 us, Write time : 345.876 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330665 ms (missed cycles : 3).[0m ×2 + 2.93sWARNcontroller_managerOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us + 2.93sWARNros2_control_nodeOverrun might occur, Total time : 2283.402 us (Expected < 1666.667 us) --> Read time : 139.922 us, Update time : 1853.965 us, Write time : 289.515 us[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742427 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781204221.48374677 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727996 ms (missed cycles : 3).[0m ×2 + 4.29sWARNcontroller_managerOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us + 4.29sWARNros2_control_nodeOverrun might occur, Total time : 5385.301 us (Expected < 1666.667 us) --> Read time : 122.752 us, Update time : 4891.072 us, Write time : 371.477 us[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781204222.07009077 seconds. ×3 + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.42sINFOmove_groupClearing octomap...[0m ×2 + 4.42sINFOmove_groupOctomap cleared.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781204222.55043054 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768789 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781204223.08798432 seconds. ×3 + 5.80sWARNcontroller_managerOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 3305.052 us (Expected < 1666.667 us) --> Read time : 167.544 us, Update time : 2754.751 us, Write time : 382.757 us[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781204223.71270704 seconds ×3 + 6.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494861 ms (missed cycles : 5). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 24.3s | 56 errors · 731 warnings · 7320 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-18-44-08-935732-c680c71405ab-9153 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 10.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 10.50sINFOros2_control_node-8process started with pid [9209] + 10.50sINFOmove_group-20process started with pid [9306] + 10.50sINFOparameter_manager_node-21process started with pid [9309] + 10.50sINFOwaypoint_manager_node-22process started with pid [9311] + 10.50sINFOmove_joint_resampler_node-23process started with pid [9312] + 10.50sINFOmove_end_effector_resampler_node-24process started with pid [9388] + 10.50sINFOobjective_server_node_main-25process started with pid [9389] + 10.50sINFOcomponent_container_mt-26process started with pid [9391] + 10.50sINFOexecute_objective_bridge-27process started with pid [9392] + 10.50sINFOui_teleop_bridge-28process started with pid [9393] + 10.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 10.51sINFOweb_bridge-29process started with pid [9394] + 10.51sINFOtf2_web_republisher_node-30process started with pid [9395] + 10.51sINFOweb_video_server-31process started with pid [9396] + 10.52sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 10.52sINFOcomponent_container_isolated-1process started with pid [9202] + 10.52sINFOstatic_transform_publisher-2process started with pid [9203] + 10.52sINFOstatic_transform_publisher-3process started with pid [9204] + 10.52sINFOstatic_transform_publisher-4process started with pid [9205] + 10.52sINFOodom_qos_relay.py-5process started with pid [9206] + 10.52sINFOscan_to_scan_filter_chain-6process started with pid [9207] + 10.52sINFOscan_to_scan_filter_chain-7process started with pid [9208] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9287] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9288] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9289] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9290] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9292] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9295] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9296] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9299] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9301] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9303] + 10.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9305] + 10.54sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×9 + 10.55sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 10.55sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 10.55sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 10.55sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×3 + 10.55sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×3 + 10.55sINFOstatic_transform_publisherfrom 'map' to 'odom' ×3 + 10.55sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 10.55sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 10.55sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 10.55sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 10.55sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 10.55sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767198 ms (missed cycles : 3).[0m + 10.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 10.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 10.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 10.66sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 10.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 10.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 10.80sINFOcomponent_container_mtRobot initialized[0m ×3 + 10.81sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 10.81sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 10.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 10.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 10.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 10.87sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 10.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 10.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 10.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 10.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 10.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 11.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 11.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 11.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 11.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 11.08sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 11.08sINFOmove_groupat line 594 in ./src/model.cpp ×318 + 11.08sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 11.13sINFOmove_groupat line 589 in ./src/model.cpp ×27 + 11.13sINFOmove_groupLoaded robot model in 0.458786 seconds[0m + 11.13sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 11.13sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.14sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×6 + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584571 ms (missed cycles : 5).[0m + 11.73sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 12.06sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 12.06sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×318 + 12.06sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 12.13sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×27 + 12.13sINFOwaypoint_manager_nodeLoaded robot model in 0.406651 seconds[0m + 12.13sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 12.13sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.50sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 12.50sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877119 ms (missed cycles : 3).[0m + 12.59sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 12.60sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 12.60sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 12.60sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 12.60sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 12.60sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 12.61sINFOmove_groupStarting planning scene monitor[0m ×3 + 12.61sINFOmove_groupListening to '/planning_scene'[0m ×3 + 12.61sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 12.61sINFOmove_groupListening to 'collision_object'[0m ×3 + 12.61sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 13.09sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 13.09sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 13.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 13.19sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 13.19sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 13.19sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 13.19sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 13.19sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 13.19sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 13.19sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 13.19sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 13.19sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 13.19sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 13.19sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 13.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 13.19sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 13.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 13.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 13.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 13.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 13.19sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 13.19sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 13.22sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 13.29sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.29sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 13.30sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 13.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×3 + 13.33sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 13.33sINFOros2_control_nodeconfigure successful[0m ×9 + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702792 ms (missed cycles : 2).[0m + 13.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 13.62sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 13.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9295] + 13.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×3 + 13.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 13.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 13.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 13.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 13.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 13.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 13.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 13.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 13.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 13.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 13.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 13.94sINFOobjective_server_node[2026-06-11 18:44:26.055] [moveit_pro_license] [info] + 13.94sINFOobjective_server_node************************************************* ×8 + 13.94sINFOobjective_server_node* MoveIt Pro License ×4 + 13.94sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 13.95sWARNros2_control_nodeOverrun might occur, Total time : 1738.895 us (Expected < 1666.667 us) --> Read time : 162.713 us, Update time : 110.242 us, Write time : 1465.940 us[0m + 14.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 14.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 14.03sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 14.04sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 14.04sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 14.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9290] + 14.20sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 14.21sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 14.21sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×318 + 14.21sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 14.24sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×27 + 14.25sINFOobjective_server_nodeLoaded robot model in 0.244651 seconds[0m + 14.25sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 14.25sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×3 + 14.26sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 14.28sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×708 + 14.28sINFOros2_control_nodeat line 594 in ./src/model.cpp ×1272 + 14.28sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×672 + 14.31sINFOros2_control_nodeat line 589 in ./src/model.cpp ×108 + 14.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 14.31sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 14.34sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 14.34sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×318 + 14.34sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 14.36sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×27 + 14.36sINFOcomponent_container_mtLoaded robot model in 0.317417 seconds[0m + 14.36sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 14.36sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828431 ms (missed cycles : 2).[0m + 14.67sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.74sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 14.75sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 14.76sINFOros2_control_node[2026-06-11 18:44:26.877] [info] Controller state will be published at 20 Hz. + 14.76sINFOros2_control_node[2026-06-11 18:44:26.879] [info] JointVelocityController 'on_configure' succeeded. + 14.77sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 14.77sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 14.77sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 14.77sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 14.77sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 14.77sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 14.77sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 15.01sWARNros2_control_nodeOverrun might occur, Total time : 6213.914 us (Expected < 1666.667 us) --> Read time : 5517.010 us, Update time : 53.991 us, Write time : 642.913 us[0m + 15.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 15.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9305] + 15.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×3 + 15.17sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 15.22sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 15.22sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 15.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 15.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 15.23sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 15.23sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 15.24sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 15.28sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 15.29sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 15.36sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 15.36sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 15.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 15.37sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 15.37sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 15.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 15.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 15.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 15.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 15.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 15.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 15.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 15.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 15.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 15.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 15.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×3 + 15.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897744 ms (missed cycles : 2).[0m + 15.56sINFOmove_group ×12 + 15.56sINFOmove_group******************************************************** ×6 + 15.56sINFOmove_group* MoveGroup using: ×3 + 15.56sINFOmove_group* - apply_planning_scene_service ×3 + 15.56sINFOmove_group* - clear_octomap_service ×3 + 15.56sINFOmove_group* - ExecuteTaskSolution ×3 + 15.56sINFOmove_group* - get_group_urdf ×3 + 15.56sINFOmove_group* - load_geometry_from_file ×3 + 15.57sINFOmove_group* - get_planning_scene_service ×3 + 15.57sINFOmove_group* - kinematics_service ×3 + 15.57sINFOmove_group* - save_geometry_to_file ×3 + 15.57sINFOmove_group* - GetPlanningGroups ×3 + 15.57sINFOmove_group* - SetActiveControllerService ×3 + 15.57sINFOmove_group* - URDFPlanningSceneCapability ×3 + 15.57sINFOmove_group[0m ×3 + 15.57sINFOmove_group[92mYou can start planning now![0m ×3 + 15.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.68sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 15.69sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 15.69sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz)[0m ×3 + 15.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 15.91sINFOros2_control_node[2026-06-11 18:44:28.024] [warning] No force/torque sensor configured. The VFC will ignore force references. + 15.91sINFOros2_control_node[2026-06-11 18:44:28.027] [info] Controller state will be published at 10 Hz. + 15.91sINFOros2_control_node[2026-06-11 18:44:28.028] [info] VelocityForceController 'on_configure' succeeded. + 16.18sWARNros2_control_nodeOverrun might occur, Total time : 2747.444 us (Expected < 1666.667 us) --> Read time : 203.464 us, Update time : 1032.360 us, Write time : 1511.620 us[0m + 16.19sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 16.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9299] + 16.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147077 ms (missed cycles : 3).[0m + 16.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×3 + 16.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.59sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.59sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×3 + 16.71sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 16.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 16.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 16.94sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 16.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9289] + 17.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×3 + 17.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 17.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 17.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 17.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 17.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 17.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 17.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 17.26sWARNros2_control_nodeOverrun might occur, Total time : 1795.826 us (Expected < 1666.667 us) --> Read time : 200.044 us, Update time : 59.771 us, Write time : 1536.011 us[0m + 17.39sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 17.39sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 17.39sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 17.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 17.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9296] + 17.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×3 + 17.46sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 17.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 17.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 17.47sWARNros2_control_nodeOverrun might occur, Total time : 5221.107 us (Expected < 1666.667 us) --> Read time : 159.283 us, Update time : 4632.706 us (Switch time : 4552.085 us (Switch chained mode time : 0.620 us, perform mode change time : 1.940 us, Activation time : 4541.144 us, Deactivation time : 0.340 us)), Write time : 429.118 us[0m + 17.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×3 + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918692 ms (missed cycles : 3).[0m + 17.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 17.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 17.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9292] + 17.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 17.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×3 + 17.89sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 17.89sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 17.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×3 + 18.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9288] + 18.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×3 + 18.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 18.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 18.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 18.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×3 + 18.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 18.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 18.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×3 + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733628 ms (missed cycles : 2).[0m + 18.84sWARNros2_control_nodeOverrun might occur, Total time : 2449.616 us (Expected < 1666.667 us) --> Read time : 184.224 us, Update time : 1917.985 us, Write time : 347.407 us[0m + 18.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9287] + 18.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 18.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 19.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×3 + 19.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.46sINFOros2_control_node[2026-06-11 18:44:31.573] [info] Controller state will be published at 20 Hz. + 19.46sINFOros2_control_node[2026-06-11 18:44:31.574] [info] JointVelocityController 'on_configure' succeeded. + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714956 ms (missed cycles : 4).[0m + 19.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9303] + 19.83sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 19.83sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 19.83sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mx01cqq5 --params-file /tmp/launch_params_qedv4u5n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0x0gnlrn --params-file /tmp/launch_params_g02gacjn [0m + 19.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×3 + 19.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 20.28sINFOros2_control_node[2026-06-11 18:44:32.396] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.28sINFOros2_control_node[2026-06-11 18:44:32.399] [info] Controller state will be published at 10 Hz. + 20.28sINFOros2_control_node[2026-06-11 18:44:32.400] [info] VelocityForceController 'on_configure' succeeded. + 20.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×30 + 20.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×30 + 20.47sWARNros2_control_nodeOverrun might occur, Total time : 1750.753 us (Expected < 1666.667 us) --> Read time : 168.953 us, Update time : 92.132 us, Write time : 1489.668 us[0m + 20.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9301] + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746054 ms (missed cycles : 2).[0m + 20.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203473.03784084 seconds. + 20.94sINFOmove_groupClearing octomap...[0m ×4 + 20.94sINFOmove_groupOctomap cleared.[0m ×4 + 20.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203473.05810761 seconds + 21.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203473.60545230 seconds. + 21.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203473.61559892 seconds + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474611 ms (missed cycles : 5).[0m + 21.83sWARNros2_control_nodeOverrun might occur, Total time : 3436.914 us (Expected < 1666.667 us) --> Read time : 186.154 us, Update time : 111.542 us, Write time : 3139.218 us[0m + 22.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203474.16257977 seconds. + 22.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203474.31329298 seconds + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787579 ms (missed cycles : 2).[0m + 22.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203474.88214612 seconds. + 22.78sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 22.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 22.78sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 22.78sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 22.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 22.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 22.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 22.82sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 22.83sWARNros2_control_nodeOverrun might occur, Total time : 4304.150 us (Expected < 1666.667 us) --> Read time : 153.633 us, Update time : 3782.220 us (Switch time : 3716.698 us (Switch chained mode time : 0.460 us, perform mode change time : 1.750 us, Activation time : 3702.618 us, Deactivation time : 0.560 us)), Write time : 368.297 us[0m + 22.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203474.95245504 seconds + 23.23sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m + 23.38sWARNros2_control_nodeOverrun might occur, Total time : 1721.612 us (Expected < 1666.667 us) --> Read time : 150.173 us, Update time : 1260.913 us, Write time : 310.526 us[0m + 23.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203475.49714541 seconds. + 23.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 23.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 23.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 23.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×4 + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143735 ms (missed cycles : 2).[0m + 24.44sINFOobjective_server_nodePlanning for 177 path waypoints. + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.294252 ms (missed cycles : 7).[0m + 24.86sWARNros2_control_nodeOverrun might occur, Total time : 2295.722 us (Expected < 1666.667 us) --> Read time : 165.303 us, Update time : 1428.146 us, Write time : 702.273 us[0m + 24.95sINFOros2_control_nodeReceived new action goal[0m ×17 + 24.95sINFOros2_control_nodeAccepted new action goal[0m ×17 + 25.88sWARNros2_control_nodeOverrun might occur, Total time : 2049.428 us (Expected < 1666.667 us) --> Read time : 412.057 us, Update time : 177.034 us, Write time : 1460.337 us[0m + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.856209 ms (missed cycles : 7).[0m + 26.93sWARNros2_control_nodeOverrun might occur, Total time : 2003.387 us (Expected < 1666.667 us) --> Read time : 113.852 us, Update time : 35.291 us, Write time : 1854.244 us[0m + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196943 ms (missed cycles : 2).[0m + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595939 ms (missed cycles : 2).[0m + 28.05sWARNros2_control_nodeOverrun might occur, Total time : 2064.968 us (Expected < 1666.667 us) --> Read time : 203.344 us, Update time : 141.402 us, Write time : 1720.222 us[0m + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025770 ms (missed cycles : 4).[0m + 29.13sWARNros2_control_nodeOverrun might occur, Total time : 3218.320 us (Expected < 1666.667 us) --> Read time : 171.124 us, Update time : 676.292 us, Write time : 2370.904 us[0m + 30.14sWARNros2_control_nodeOverrun might occur, Total time : 2491.816 us (Expected < 1666.667 us) --> Read time : 126.932 us, Update time : 2040.568 us, Write time : 324.316 us[0m + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741846 ms (missed cycles : 2).[0m + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.404815 ms (missed cycles : 6).[0m + 31.38sWARNros2_control_nodeOverrun might occur, Total time : 1865.545 us (Expected < 1666.667 us) --> Read time : 1295.784 us, Update time : 152.073 us, Write time : 417.688 us[0m + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109761 ms (missed cycles : 2).[0m + 32.50sWARNros2_control_nodeOverrun might occur, Total time : 1806.574 us (Expected < 1666.667 us) --> Read time : 126.723 us, Update time : 1116.500 us, Write time : 563.351 us[0m + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313249 ms (missed cycles : 2).[0m + 33.62sWARNros2_control_nodeOverrun might occur, Total time : 2850.833 us (Expected < 1666.667 us) --> Read time : 152.163 us, Update time : 2398.924 us, Write time : 299.746 us[0m + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195762 ms (missed cycles : 3).[0m + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744989 ms (missed cycles : 2).[0m + 35.49sWARNros2_control_nodeOverrun might occur, Total time : 3218.460 us (Expected < 1666.667 us) --> Read time : 295.866 us, Update time : 2487.986 us, Write time : 434.608 us[0m + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281597 ms (missed cycles : 3).[0m + 37.23sWARNros2_control_nodeOverrun might occur, Total time : 2363.423 us (Expected < 1666.667 us) --> Read time : 462.768 us, Update time : 795.765 us, Write time : 1104.890 us[0m + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564516 ms (missed cycles : 5).[0m + 38.29sWARNros2_control_nodeOverrun might occur, Total time : 2851.613 us (Expected < 1666.667 us) --> Read time : 170.743 us, Update time : 2276.752 us, Write time : 404.118 us[0m + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716628 ms (missed cycles : 2).[0m + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332437 ms (missed cycles : 2).[0m + 39.62sWARNros2_control_nodeOverrun might occur, Total time : 5182.526 us (Expected < 1666.667 us) --> Read time : 4481.143 us, Update time : 183.633 us, Write time : 517.750 us[0m + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910417 ms (missed cycles : 2).[0m + 41.11sWARNros2_control_nodeOverrun might occur, Total time : 1965.317 us (Expected < 1666.667 us) --> Read time : 1234.303 us, Update time : 380.617 us, Write time : 350.397 us[0m + 41.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055610 ms (missed cycles : 3).[0m + 42.33sWARNros2_control_nodeOverrun might occur, Total time : 2439.595 us (Expected < 1666.667 us) --> Read time : 177.753 us, Update time : 1779.483 us, Write time : 482.359 us[0m + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616258 ms (missed cycles : 2).[0m + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684571 ms (missed cycles : 2).[0m + 44.13sWARNros2_control_nodeOverrun might occur, Total time : 1896.636 us (Expected < 1666.667 us) --> Read time : 244.125 us, Update time : 1342.515 us, Write time : 309.996 us[0m + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.782571 ms (missed cycles : 6).[0m + 45.35sWARNros2_control_nodeOverrun might occur, Total time : 1806.964 us (Expected < 1666.667 us) --> Read time : 120.783 us, Update time : 1337.644 us, Write time : 348.537 us[0m + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828188 ms (missed cycles : 2).[0m + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963072 ms (missed cycles : 3).[0m + 47.84sWARNros2_control_nodeOverrun might occur, Total time : 2804.112 us (Expected < 1666.667 us) --> Read time : 172.604 us, Update time : 205.003 us, Write time : 2426.505 us[0m + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743258 ms (missed cycles : 2).[0m + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274791 ms (missed cycles : 2).[0m + 49.62sWARNros2_control_nodeOverrun might occur, Total time : 1880.045 us (Expected < 1666.667 us) --> Read time : 158.613 us, Update time : 1391.436 us, Write time : 329.996 us[0m + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840608 ms (missed cycles : 2).[0m + 50.81sWARNros2_control_nodeOverrun might occur, Total time : 1732.342 us (Expected < 1666.667 us) --> Read time : 180.354 us, Update time : 88.951 us, Write time : 1463.037 us[0m + 51.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218153 ms (missed cycles : 3).[0m + 52.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413770 ms (missed cycles : 3).[0m + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594839 ms (missed cycles : 4).[0m + 53.32sWARNros2_control_nodeOverrun might occur, Total time : 1800.723 us (Expected < 1666.667 us) --> Read time : 1370.815 us, Update time : 127.903 us, Write time : 302.005 us[0m + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898629 ms (missed cycles : 2).[0m + 54.33sWARNros2_control_nodeOverrun might occur, Total time : 4231.048 us (Expected < 1666.667 us) --> Read time : 190.903 us, Update time : 3537.116 us, Write time : 503.029 us[0m + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287178 ms (missed cycles : 3).[0m + 55.56sWARNros2_control_nodeOverrun might occur, Total time : 3645.478 us (Expected < 1666.667 us) --> Read time : 150.103 us, Update time : 3035.296 us, Write time : 460.079 us[0m + 56.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145789 ms (missed cycles : 2).[0m + 56.76sWARNros2_control_nodeOverrun might occur, Total time : 4588.925 us (Expected < 1666.667 us) --> Read time : 197.844 us, Update time : 3865.382 us, Write time : 525.699 us[0m + 57.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079730 ms (missed cycles : 2).[0m + 57.90sWARNros2_control_nodeOverrun might occur, Total time : 1929.565 us (Expected < 1666.667 us) --> Read time : 151.053 us, Update time : 1328.674 us, Write time : 449.838 us[0m + 58.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174460 ms (missed cycles : 4).[0m + 59.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957479 ms (missed cycles : 3).[0m + 59.63sWARNros2_control_nodeOverrun might occur, Total time : 2201.391 us (Expected < 1666.667 us) --> Read time : 198.164 us, Update time : 1662.670 us, Write time : 340.557 us[0m + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733218 ms (missed cycles : 3).[0m + 61.07sWARNros2_control_nodeOverrun might occur, Total time : 1769.683 us (Expected < 1666.667 us) --> Read time : 174.594 us, Update time : 1268.323 us, Write time : 326.766 us[0m + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363689 ms (missed cycles : 4).[0m + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795899 ms (missed cycles : 3).[0m + 63.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865657 ms (missed cycles : 3).[0m + 64.10sWARNros2_control_nodeOverrun might occur, Total time : 1941.073 us (Expected < 1666.667 us) --> Read time : 147.442 us, Update time : 1345.833 us, Write time : 447.798 us[0m + 64.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.512103 ms (missed cycles : 7).[0m + 65.88sWARNros2_control_nodeOverrun might occur, Total time : 2507.542 us (Expected < 1666.667 us) --> Read time : 167.523 us, Update time : 148.062 us, Write time : 2191.957 us[0m + 65.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540967 ms (missed cycles : 3).[0m + 66.56sINFOros2_control_nodeGoal reached, success![0m ×16 + 66.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781203518.72154856 seconds + 67.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096114 ms (missed cycles : 3).[0m + 67.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781203519.26931405 seconds. + 67.66sWARNros2_control_nodeOverrun might occur, Total time : 2346.579 us (Expected < 1666.667 us) --> Read time : 144.512 us, Update time : 1819.041 us, Write time : 383.026 us[0m + 68.09sINFOobjective_server_nodeFound path in 0 iterations (2.5011e-05 s). + 68.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250072 ms (missed cycles : 3).[0m + 68.09sINFOobjective_server_nodePath shortcutter: [X____X] + 68.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 69.05sWARNros2_control_nodeOverrun might occur, Total time : 2274.159 us (Expected < 1666.667 us) --> Read time : 1806.471 us, Update time : 147.153 us, Write time : 320.535 us[0m + 69.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195170 ms (missed cycles : 2).[0m + 70.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829221 ms (missed cycles : 5).[0m + 70.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781203522.34946465 seconds + 70.30sWARNros2_control_nodeOverrun might occur, Total time : 5388.151 us (Expected < 1666.667 us) --> Read time : 145.442 us, Update time : 76.202 us, Write time : 5166.507 us[0m + 70.79sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781203522.90572596 seconds. + 71.14sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 71.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029973 ms (missed cycles : 2).[0m + 72.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794669 ms (missed cycles : 3).[0m + 72.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 73.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753264 ms (missed cycles : 2).[0m + 73.96sWARNros2_control_nodeOverrun might occur, Total time : 1697.739 us (Expected < 1666.667 us) --> Read time : 191.153 us, Update time : 167.453 us, Write time : 1339.133 us[0m + 74.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 39.149372 ms (missed cycles : 24).[0m + 75.56sWARNros2_control_nodeOverrun might occur, Total time : 3402.917 us (Expected < 1666.667 us) --> Read time : 165.113 us, Update time : 696.731 us, Write time : 2541.073 us[0m + 75.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903497 ms (missed cycles : 4).[0m + 76.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507478 ms (missed cycles : 3).[0m + 76.92sWARNros2_control_nodeOverrun might occur, Total time : 1837.011 us (Expected < 1666.667 us) --> Read time : 124.642 us, Update time : 736.693 us, Write time : 975.676 us[0m + 77.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459062 ms (missed cycles : 2).[0m + 78.42sWARNros2_control_nodeOverrun might occur, Total time : 1895.072 us (Expected < 1666.667 us) --> Read time : 217.154 us, Update time : 779.303 us, Write time : 898.615 us[0m + 78.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.922437 ms (missed cycles : 7).[0m + 79.51sWARNros2_control_nodeOverrun might occur, Total time : 2127.166 us (Expected < 1666.667 us) --> Read time : 142.713 us, Update time : 1533.955 us, Write time : 450.498 us[0m + 79.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460064 ms (missed cycles : 3).[0m + 80.60sWARNros2_control_nodeOverrun might occur, Total time : 1674.958 us (Expected < 1666.667 us) --> Read time : 141.843 us, Update time : 1193.270 us, Write time : 339.845 us[0m + 81.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144155 ms (missed cycles : 4).[0m + 81.67sWARNros2_control_nodeOverrun might occur, Total time : 1758.660 us (Expected < 1666.667 us) --> Read time : 749.103 us, Update time : 146.402 us, Write time : 863.155 us[0m + 82.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733783 ms (missed cycles : 2).[0m + 82.72sWARNros2_control_nodeOverrun might occur, Total time : 1911.831 us (Expected < 1666.667 us) --> Read time : 220.223 us, Update time : 1365.943 us, Write time : 325.665 us[0m + 83.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458704 ms (missed cycles : 2).[0m + 83.23sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m + 84.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278626 ms (missed cycles : 4).[0m + 84.38sWARNros2_control_nodeOverrun might occur, Total time : 1952.703 us (Expected < 1666.667 us) --> Read time : 129.292 us, Update time : 1419.414 us, Write time : 403.997 us[0m + 85.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182094 ms (missed cycles : 2).[0m + 85.97sWARNros2_control_nodeOverrun might occur, Total time : 5192.556 us (Expected < 1666.667 us) --> Read time : 149.643 us, Update time : 4726.678 us, Write time : 316.235 us[0m + 86.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.237434 ms (missed cycles : 6).[0m + 87.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861738 ms (missed cycles : 3).[0m + 87.47sWARNros2_control_nodeOverrun might occur, Total time : 2160.930 us (Expected < 1666.667 us) --> Read time : 164.803 us, Update time : 1692.761 us, Write time : 303.366 us[0m + 88.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141950 ms (missed cycles : 4).[0m + 88.65sWARNros2_control_nodeOverrun might occur, Total time : 7168.983 us (Expected < 1666.667 us) --> Read time : 224.204 us, Update time : 195.494 us, Write time : 6749.285 us[0m + 89.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879511 ms (missed cycles : 3).[0m + 89.71sWARNros2_control_nodeOverrun might occur, Total time : 4592.514 us (Expected < 1666.667 us) --> Read time : 179.613 us, Update time : 4039.574 us, Write time : 373.327 us[0m + 90.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138878 ms (missed cycles : 5).[0m + 90.90sWARNros2_control_nodeOverrun might occur, Total time : 3098.387 us (Expected < 1666.667 us) --> Read time : 300.886 us, Update time : 2456.655 us, Write time : 340.846 us[0m + 91.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839118 ms (missed cycles : 2).[0m + 92.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008047 ms (missed cycles : 4).[0m + 92.59sWARNros2_control_nodeOverrun might occur, Total time : 2326.503 us (Expected < 1666.667 us) --> Read time : 192.244 us, Update time : 938.687 us, Write time : 1195.572 us[0m + 93.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934593 ms (missed cycles : 4).[0m + 93.63sWARNros2_control_nodeOverrun might occur, Total time : 2331.024 us (Expected < 1666.667 us) --> Read time : 172.084 us, Update time : 169.923 us, Write time : 1989.017 us[0m + 94.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467699 ms (missed cycles : 3).[0m + 94.96sWARNros2_control_nodeOverrun might occur, Total time : 2067.768 us (Expected < 1666.667 us) --> Read time : 270.565 us, Update time : 1456.887 us, Write time : 340.316 us[0m + 95.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127578 ms (missed cycles : 4).[0m + 96.51sWARNros2_control_nodeOverrun might occur, Total time : 3601.996 us (Expected < 1666.667 us) --> Read time : 141.122 us, Update time : 3045.797 us, Write time : 415.077 us[0m + 96.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795462 ms (missed cycles : 2).[0m + 97.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990786 ms (missed cycles : 2).[0m + 98.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876500 ms (missed cycles : 3).[0m + 98.80sWARNros2_control_nodeOverrun might occur, Total time : 2701.640 us (Expected < 1666.667 us) --> Read time : 131.352 us, Update time : 1445.467 us, Write time : 1124.821 us[0m + 99.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469785 ms (missed cycles : 3).[0m +100.27sWARNros2_control_nodeOverrun might occur, Total time : 1964.876 us (Expected < 1666.667 us) --> Read time : 279.155 us, Update time : 1340.224 us, Write time : 345.497 us[0m +100.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.336550 ms (missed cycles : 6).[0m +101.41sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +101.76sWARNros2_control_nodeOverrun might occur, Total time : 1724.322 us (Expected < 1666.667 us) --> Read time : 152.533 us, Update time : 1280.743 us, Write time : 291.046 us[0m +101.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225241 ms (missed cycles : 2).[0m +102.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670595 ms (missed cycles : 2).[0m +102.99sWARNros2_control_nodeOverrun might occur, Total time : 3962.934 us (Expected < 1666.667 us) --> Read time : 230.795 us, Update time : 3361.182 us, Write time : 370.957 us[0m +104.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599550 ms (missed cycles : 4).[0m +104.19sWARNros2_control_nodeOverrun might occur, Total time : 3097.497 us (Expected < 1666.667 us) --> Read time : 119.702 us, Update time : 2585.818 us, Write time : 391.977 us[0m +105.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253565 ms (missed cycles : 2).[0m +106.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467398 ms (missed cycles : 2).[0m +106.35sWARNros2_control_nodeOverrun might occur, Total time : 3878.522 us (Expected < 1666.667 us) --> Read time : 131.472 us, Update time : 123.652 us, Write time : 3623.398 us[0m +107.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461332 ms (missed cycles : 2).[0m +107.64sWARNros2_control_nodeOverrun might occur, Total time : 2290.862 us (Expected < 1666.667 us) --> Read time : 117.492 us, Update time : 1874.264 us, Write time : 299.106 us[0m +108.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245680 ms (missed cycles : 3).[0m +108.73sWARNros2_control_nodeOverrun might occur, Total time : 5560.212 us (Expected < 1666.667 us) --> Read time : 130.742 us, Update time : 5079.164 us, Write time : 350.306 us[0m +109.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767132 ms (missed cycles : 3).[0m +110.11sWARNros2_control_nodeOverrun might occur, Total time : 8880.964 us (Expected < 1666.667 us) --> Read time : 146.382 us, Update time : 8335.995 us, Write time : 398.587 us[0m +110.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975959 ms (missed cycles : 4).[0m +111.25sWARNros2_control_nodeOverrun might occur, Total time : 2160.310 us (Expected < 1666.667 us) --> Read time : 223.934 us, Update time : 150.273 us, Write time : 1786.103 us[0m +111.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908434 ms (missed cycles : 2).[0m +112.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804159 ms (missed cycles : 2).[0m +112.36sWARNros2_control_nodeOverrun might occur, Total time : 2009.497 us (Expected < 1666.667 us) --> Read time : 1398.756 us, Update time : 189.574 us, Write time : 421.167 us[0m +113.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947828 ms (missed cycles : 3).[0m +113.48sWARNros2_control_nodeOverrun might occur, Total time : 1937.196 us (Expected < 1666.667 us) --> Read time : 273.736 us, Update time : 163.763 us, Write time : 1499.697 us[0m +114.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667451 ms (missed cycles : 2).[0m +115.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735609 ms (missed cycles : 3).[0m +116.01sWARNros2_control_nodeOverrun might occur, Total time : 3725.449 us (Expected < 1666.667 us) --> Read time : 155.593 us, Update time : 176.474 us, Write time : 3393.382 us[0m +116.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151281 ms (missed cycles : 2).[0m +117.43sWARNros2_control_nodeOverrun might occur, Total time : 5901.750 us (Expected < 1666.667 us) --> Read time : 142.463 us, Update time : 129.632 us, Write time : 5629.655 us[0m +117.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446694 ms (missed cycles : 3).[0m +118.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342439 ms (missed cycles : 3).[0m +118.87sWARNros2_control_nodeOverrun might occur, Total time : 2025.577 us (Expected < 1666.667 us) --> Read time : 1568.829 us, Update time : 145.553 us, Write time : 311.195 us[0m +119.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314329 ms (missed cycles : 5).[0m +120.09sWARNros2_control_nodeOverrun might occur, Total time : 1992.297 us (Expected < 1666.667 us) --> Read time : 147.453 us, Update time : 1021.619 us, Write time : 823.225 us[0m +120.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m +121.47sWARNros2_control_nodeOverrun might occur, Total time : 6369.056 us (Expected < 1666.667 us) --> Read time : 145.513 us, Update time : 5861.647 us, Write time : 361.896 us[0m +121.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618608 ms (missed cycles : 5).[0m +122.60sWARNros2_control_nodeOverrun might occur, Total time : 3420.494 us (Expected < 1666.667 us) --> Read time : 201.944 us, Update time : 2792.572 us, Write time : 425.978 us[0m +122.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859893 ms (missed cycles : 5).[0m +123.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973739 ms (missed cycles : 2).[0m +123.78sWARNros2_control_nodeOverrun might occur, Total time : 4775.929 us (Expected < 1666.667 us) --> Read time : 136.092 us, Update time : 4282.470 us, Write time : 357.367 us[0m +124.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254937 ms (missed cycles : 2).[0m +124.95sWARNros2_control_nodeOverrun might occur, Total time : 2169.640 us (Expected < 1666.667 us) --> Read time : 137.032 us, Update time : 1739.422 us, Write time : 293.186 us[0m +125.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556885 ms (missed cycles : 4).[0m +126.03sWARNros2_control_nodeOverrun might occur, Total time : 1727.402 us (Expected < 1666.667 us) --> Read time : 114.772 us, Update time : 1224.003 us, Write time : 388.627 us[0m +126.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679300 ms (missed cycles : 2).[0m +127.21sWARNros2_control_nodeOverrun might occur, Total time : 1953.408 us (Expected < 1666.667 us) --> Read time : 179.293 us, Update time : 1295.296 us, Write time : 478.819 us[0m +127.41sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781203579.52593708 seconds +127.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730566 ms (missed cycles : 2).[0m +127.97sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781203580.08286285 seconds. +128.32sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +128.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +128.59sWARNros2_control_nodeOverrun might occur, Total time : 2447.068 us (Expected < 1666.667 us) --> Read time : 173.493 us, Update time : 1847.167 us, Write time : 426.408 us[0m +128.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.121513 ms (missed cycles : 5).[0m +129.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808265 ms (missed cycles : 3).[0m +129.91sWARNros2_control_nodeOverrun might occur, Total time : 2053.850 us (Expected < 1666.667 us) --> Read time : 125.812 us, Update time : 1574.771 us, Write time : 353.267 us[0m +130.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835402 ms (missed cycles : 3).[0m +130.98sWARNros2_control_nodeOverrun might occur, Total time : 1761.895 us (Expected < 1666.667 us) --> Read time : 202.834 us, Update time : 1209.404 us, Write time : 349.657 us[0m +132.02sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781203584.13311696 seconds +132.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465040 ms (missed cycles : 3).[0m +132.04sWARNros2_control_nodeOverrun might occur, Total time : 3685.063 us (Expected < 1666.667 us) --> Read time : 2857.256 us, Update time : 273.656 us, Write time : 554.151 us[0m +133.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835668 ms (missed cycles : 3).[0m +133.16sWARNros2_control_nodeOverrun might occur, Total time : 2011.880 us (Expected < 1666.667 us) --> Read time : 113.873 us, Update time : 1581.041 us, Write time : 316.966 us[0m +133.56sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781203585.67751622 seconds. +133.92sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +134.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241622 ms (missed cycles : 5).[0m +134.30sWARNros2_control_nodeOverrun might occur, Total time : 1712.184 us (Expected < 1666.667 us) --> Read time : 211.774 us, Update time : 156.123 us, Write time : 1344.287 us[0m +135.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.959545 ms (missed cycles : 7).[0m +135.55sWARNros2_control_nodeOverrun might occur, Total time : 2159.023 us (Expected < 1666.667 us) --> Read time : 1551.951 us, Update time : 174.553 us, Write time : 432.519 us[0m +135.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +136.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361931 ms (missed cycles : 3).[0m +136.78sWARNros2_control_nodeOverrun might occur, Total time : 4504.379 us (Expected < 1666.667 us) --> Read time : 320.006 us, Update time : 3790.545 us, Write time : 393.828 us[0m +137.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150237 ms (missed cycles : 3).[0m +138.23sWARNros2_control_nodeOverrun might occur, Total time : 2217.453 us (Expected < 1666.667 us) --> Read time : 1677.053 us, Update time : 152.433 us, Write time : 387.967 us[0m +138.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378692 ms (missed cycles : 4).[0m +139.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091338 ms (missed cycles : 5).[0m +139.45sWARNros2_control_nodeOverrun might occur, Total time : 3739.444 us (Expected < 1666.667 us) --> Read time : 161.293 us, Update time : 3199.153 us, Write time : 378.998 us[0m +140.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148382 ms (missed cycles : 5).[0m +140.59sWARNros2_control_nodeOverrun might occur, Total time : 1756.915 us (Expected < 1666.667 us) --> Read time : 140.073 us, Update time : 1298.755 us, Write time : 318.087 us[0m +141.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268760 ms (missed cycles : 6).[0m +141.98sWARNros2_control_nodeOverrun might occur, Total time : 2488.339 us (Expected < 1666.667 us) --> Read time : 124.922 us, Update time : 1990.940 us, Write time : 372.477 us[0m +142.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869631 ms (missed cycles : 2).[0m +143.12sWARNros2_control_nodeOverrun might occur, Total time : 2017.609 us (Expected < 1666.667 us) --> Read time : 136.012 us, Update time : 1300.786 us, Write time : 580.811 us[0m +143.24sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m +143.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744455 ms (missed cycles : 2).[0m +144.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922747 ms (missed cycles : 2).[0m +145.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901370 ms (missed cycles : 2).[0m +146.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355571 ms (missed cycles : 3).[0m +147.30sWARNros2_control_nodeOverrun might occur, Total time : 8540.308 us (Expected < 1666.667 us) --> Read time : 152.993 us, Update time : 109.632 us, Write time : 8277.683 us[0m +147.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801717 ms (missed cycles : 2).[0m +148.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883409 ms (missed cycles : 2).[0m +148.97sWARNros2_control_nodeOverrun might occur, Total time : 6519.700 us (Expected < 1666.667 us) --> Read time : 306.946 us, Update time : 5804.456 us, Write time : 408.298 us[0m +149.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855147 ms (missed cycles : 2).[0m +150.35sWARNros2_control_nodeOverrun might occur, Total time : 3829.917 us (Expected < 1666.667 us) --> Read time : 199.554 us, Update time : 3288.016 us, Write time : 342.347 us[0m +150.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270700 ms (missed cycles : 3).[0m +151.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817619 ms (missed cycles : 3).[0m +152.58sWARNros2_control_nodeOverrun might occur, Total time : 1670.633 us (Expected < 1666.667 us) --> Read time : 162.063 us, Update time : 150.013 us, Write time : 1358.557 us[0m +152.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197169 ms (missed cycles : 5).[0m +153.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749553 ms (missed cycles : 3).[0m +154.01sWARNros2_control_nodeOverrun might occur, Total time : 1957.719 us (Expected < 1666.667 us) --> Read time : 163.724 us, Update time : 1443.868 us, Write time : 350.127 us[0m +154.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m +155.04sWARNros2_control_nodeOverrun might occur, Total time : 3627.942 us (Expected < 1666.667 us) --> Read time : 193.334 us, Update time : 3027.260 us, Write time : 407.348 us[0m +155.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728399 ms (missed cycles : 2).[0m +156.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401818 ms (missed cycles : 2).[0m +157.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707344 ms (missed cycles : 3).[0m +158.40sWARNros2_control_nodeOverrun might occur, Total time : 1908.455 us (Expected < 1666.667 us) --> Read time : 182.403 us, Update time : 147.753 us, Write time : 1578.299 us[0m +158.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690634 ms (missed cycles : 4).[0m +159.43sWARNros2_control_nodeOverrun might occur, Total time : 1737.551 us (Expected < 1666.667 us) --> Read time : 177.753 us, Update time : 1187.352 us, Write time : 372.446 us[0m +160.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505719 ms (missed cycles : 3).[0m +160.78sWARNros2_control_nodeOverrun might occur, Total time : 2726.720 us (Expected < 1666.667 us) --> Read time : 143.302 us, Update time : 2244.562 us, Write time : 338.856 us[0m +161.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207207 ms (missed cycles : 4).[0m +162.13sWARNros2_control_nodeOverrun might occur, Total time : 3470.935 us (Expected < 1666.667 us) --> Read time : 119.212 us, Update time : 3040.317 us, Write time : 311.406 us[0m +162.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834429 ms (missed cycles : 3).[0m +163.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088118 ms (missed cycles : 4).[0m +164.07sWARNros2_control_nodeOverrun might occur, Total time : 6591.182 us (Expected < 1666.667 us) --> Read time : 114.902 us, Update time : 6080.793 us, Write time : 395.487 us[0m +164.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781203616.40767741 seconds +164.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096826 ms (missed cycles : 4).[0m +164.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781203616.96208429 seconds. +165.19sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). +165.22sWARNros2_control_nodeOverrun might occur, Total time : 1944.536 us (Expected < 1666.667 us) --> Read time : 194.244 us, Update time : 1414.676 us, Write time : 335.616 us[0m +165.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965046 ms (missed cycles : 3).[0m +166.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761403 ms (missed cycles : 2).[0m +166.38sWARNros2_control_nodeOverrun might occur, Total time : 7296.836 us (Expected < 1666.667 us) --> Read time : 157.103 us, Update time : 6733.495 us, Write time : 406.238 us[0m +166.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +167.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886892 ms (missed cycles : 2).[0m +167.79sWARNros2_control_nodeOverrun might occur, Total time : 1929.096 us (Expected < 1666.667 us) --> Read time : 207.994 us, Update time : 197.914 us, Write time : 1523.188 us[0m +168.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004898 ms (missed cycles : 4).[0m +168.80sWARNros2_control_nodeOverrun might occur, Total time : 3862.351 us (Expected < 1666.667 us) --> Read time : 173.243 us, Update time : 3269.330 us, Write time : 419.778 us[0m +169.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204245 ms (missed cycles : 4).[0m +169.87sWARNros2_control_nodeOverrun might occur, Total time : 1771.213 us (Expected < 1666.667 us) --> Read time : 433.478 us, Update time : 1023.309 us, Write time : 314.426 us[0m +170.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236524 ms (missed cycles : 3).[0m +171.11sWARNros2_control_nodeOverrun might occur, Total time : 2046.487 us (Expected < 1666.667 us) --> Read time : 214.434 us, Update time : 1411.716 us, Write time : 420.337 us[0m +171.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167493 ms (missed cycles : 3).[0m +172.54sWARNros2_control_nodeOverrun might occur, Total time : 3195.679 us (Expected < 1666.667 us) --> Read time : 164.843 us, Update time : 2588.548 us, Write time : 442.288 us[0m +172.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972020 ms (missed cycles : 4).[0m +173.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.552609 ms (missed cycles : 7).[0m +173.81sWARNros2_control_nodeOverrun might occur, Total time : 1733.322 us (Expected < 1666.667 us) --> Read time : 211.724 us, Update time : 131.342 us, Write time : 1390.256 us[0m +174.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928309 ms (missed cycles : 2).[0m +175.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294745 ms (missed cycles : 2).[0m +175.83sWARNros2_control_nodeOverrun might occur, Total time : 1687.742 us (Expected < 1666.667 us) --> Read time : 188.794 us, Update time : 269.145 us, Write time : 1229.803 us[0m +176.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.859490 ms (missed cycles : 6).[0m +177.47sWARNros2_control_nodeOverrun might occur, Total time : 3434.914 us (Expected < 1666.667 us) --> Read time : 2739.361 us, Update time : 169.513 us, Write time : 526.040 us[0m +177.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.680159 ms (missed cycles : 6).[0m +178.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.334946 ms (missed cycles : 6).[0m +179.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466029 ms (missed cycles : 3).[0m +180.21sWARNros2_control_nodeOverrun might occur, Total time : 3244.199 us (Expected < 1666.667 us) --> Read time : 281.505 us, Update time : 128.262 us, Write time : 2834.432 us[0m +181.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444458 ms (missed cycles : 3).[0m +182.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752441 ms (missed cycles : 2).[0m +183.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177677 ms (missed cycles : 2).[0m +183.17sWARNros2_control_nodeOverrun might occur, Total time : 2356.463 us (Expected < 1666.667 us) --> Read time : 185.543 us, Update time : 98.102 us, Write time : 2072.818 us[0m +184.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530183 ms (missed cycles : 3).[0m +184.71sWARNros2_control_nodeOverrun might occur, Total time : 2032.338 us (Expected < 1666.667 us) --> Read time : 1482.857 us, Update time : 233.335 us, Write time : 316.146 us[0m +185.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778525 ms (missed cycles : 2).[0m +186.12sWARNros2_control_nodeOverrun might occur, Total time : 6706.044 us (Expected < 1666.667 us) --> Read time : 154.962 us, Update time : 6209.916 us, Write time : 341.166 us[0m +186.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615999 ms (missed cycles : 3).[0m +187.22sWARNros2_control_nodeOverrun might occur, Total time : 1805.184 us (Expected < 1666.667 us) --> Read time : 165.663 us, Update time : 1276.074 us, Write time : 363.447 us[0m +187.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217796 ms (missed cycles : 2).[0m +188.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034384 ms (missed cycles : 4).[0m +188.50sWARNros2_control_nodeOverrun might occur, Total time : 3463.084 us (Expected < 1666.667 us) --> Read time : 206.264 us, Update time : 2871.723 us, Write time : 385.097 us[0m +189.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053744 ms (missed cycles : 4).[0m +189.52sWARNros2_control_nodeOverrun might occur, Total time : 1826.014 us (Expected < 1666.667 us) --> Read time : 759.394 us, Update time : 107.072 us, Write time : 959.548 us[0m +190.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531679 ms (missed cycles : 5).[0m +190.56sWARNros2_control_nodeOverrun might occur, Total time : 4885.921 us (Expected < 1666.667 us) --> Read time : 163.903 us, Update time : 4241.119 us, Write time : 480.899 us[0m +191.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117681 ms (missed cycles : 4).[0m +191.97sWARNros2_control_nodeOverrun might occur, Total time : 2113.962 us (Expected < 1666.667 us) --> Read time : 146.984 us, Update time : 1583.958 us, Write time : 383.020 us[0m +192.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018999 ms (missed cycles : 4).[0m +193.24sWARNros2_control_nodeOverrun might occur, Total time : 8884.516 us (Expected < 1666.667 us) --> Read time : 159.584 us, Update time : 8354.493 us, Write time : 370.439 us[0m +193.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225713 ms (missed cycles : 3).[0m +193.96sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +194.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312199 ms (missed cycles : 3).[0m +194.60sINFOobjective_server_nodePlanning for 52 path waypoints. +194.73sWARNros2_control_nodeOverrun might occur, Total time : 2894.890 us (Expected < 1666.667 us) --> Read time : 157.523 us, Update time : 2410.039 us, Write time : 327.328 us[0m +195.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735057 ms (missed cycles : 3).[0m +195.91sWARNros2_control_nodeOverrun might occur, Total time : 2294.816 us (Expected < 1666.667 us) --> Read time : 105.122 us, Update time : 1680.191 us, Write time : 509.503 us[0m +196.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693800 ms (missed cycles : 4).[0m +197.05sWARNros2_control_nodeOverrun might occur, Total time : 2709.416 us (Expected < 1666.667 us) --> Read time : 131.603 us, Update time : 2285.976 us, Write time : 291.837 us[0m +197.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591996 ms (missed cycles : 3).[0m +198.30sWARNros2_control_nodeOverrun might occur, Total time : 1711.612 us (Expected < 1666.667 us) --> Read time : 360.049 us, Update time : 712.397 us, Write time : 639.166 us[0m +198.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195415 ms (missed cycles : 3).[0m +199.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914230 ms (missed cycles : 2).[0m +199.88sWARNros2_control_nodeOverrun might occur, Total time : 5558.064 us (Expected < 1666.667 us) --> Read time : 221.874 us, Update time : 4988.123 us, Write time : 348.067 us[0m +200.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275355 ms (missed cycles : 2).[0m +201.84sWARNros2_control_nodeOverrun might occur, Total time : 1693.062 us (Expected < 1666.667 us) --> Read time : 175.973 us, Update time : 1185.082 us, Write time : 332.007 us[0m +201.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097829 ms (missed cycles : 2).[0m +202.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657916 ms (missed cycles : 2).[0m +202.87sWARNros2_control_nodeOverrun might occur, Total time : 6221.077 us (Expected < 1666.667 us) --> Read time : 160.543 us, Update time : 5767.508 us, Write time : 293.026 us[0m +203.24sINFOros2_control_nodeMuJoCo sim: 0.86% of iterations over time budget. Below 1% expected for non-realtime.[0m +203.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064363 ms (missed cycles : 2).[0m +204.50sWARNros2_control_nodeOverrun might occur, Total time : 5749.298 us (Expected < 1666.667 us) --> Read time : 5212.288 us, Update time : 160.943 us, Write time : 376.067 us[0m +204.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358835 ms (missed cycles : 3).[0m +205.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655403 ms (missed cycles : 5).[0m +206.34sWARNros2_control_nodeOverrun might occur, Total time : 1751.003 us (Expected < 1666.667 us) --> Read time : 513.529 us, Update time : 799.885 us, Write time : 437.589 us[0m +207.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556793 ms (missed cycles : 3).[0m +207.41sWARNros2_control_nodeOverrun might occur, Total time : 1937.876 us (Expected < 1666.667 us) --> Read time : 160.983 us, Update time : 1403.246 us, Write time : 373.647 us[0m +208.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108547 ms (missed cycles : 2).[0m +208.82sWARNros2_control_nodeOverrun might occur, Total time : 2269.212 us (Expected < 1666.667 us) --> Read time : 535.960 us, Update time : 480.629 us, Write time : 1252.623 us[0m +209.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557533 ms (missed cycles : 2).[0m +210.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948471 ms (missed cycles : 2).[0m +210.36sWARNros2_control_nodeOverrun might occur, Total time : 5392.641 us (Expected < 1666.667 us) --> Read time : 171.774 us, Update time : 4767.819 us, Write time : 453.048 us[0m +211.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787687 ms (missed cycles : 2).[0m +211.76sWARNros2_control_nodeOverrun might occur, Total time : 2643.950 us (Expected < 1666.667 us) --> Read time : 143.403 us, Update time : 118.912 us, Write time : 2381.635 us[0m +212.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684908 ms (missed cycles : 3).[0m +213.17sWARNros2_control_nodeOverrun might occur, Total time : 1984.106 us (Expected < 1666.667 us) --> Read time : 170.593 us, Update time : 1476.107 us, Write time : 337.406 us[0m +213.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378235 ms (missed cycles : 3).[0m +214.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880816 ms (missed cycles : 2).[0m +214.94sWARNros2_control_nodeOverrun might occur, Total time : 3697.809 us (Expected < 1666.667 us) --> Read time : 141.732 us, Update time : 3137.389 us, Write time : 418.688 us[0m +215.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.057152 ms (missed cycles : 6).[0m +216.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036229 ms (missed cycles : 4).[0m +216.57sWARNros2_control_nodeOverrun might occur, Total time : 3798.321 us (Expected < 1666.667 us) --> Read time : 141.023 us, Update time : 3251.161 us, Write time : 406.137 us[0m +217.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391898 ms (missed cycles : 3).[0m +217.79sWARNros2_control_nodeOverrun might occur, Total time : 2206.791 us (Expected < 1666.667 us) --> Read time : 274.355 us, Update time : 1513.418 us, Write time : 419.018 us[0m +218.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337604 ms (missed cycles : 2).[0m +218.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781203670.80224299 seconds +219.00sWARNros2_control_nodeOverrun might occur, Total time : 1998.677 us (Expected < 1666.667 us) --> Read time : 151.082 us, Update time : 1454.278 us, Write time : 393.317 us[0m +219.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781203671.34673166 seconds. +219.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.488996 ms (missed cycles : 6).[0m +219.60sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +220.38sWARNros2_control_nodeOverrun might occur, Total time : 1755.673 us (Expected < 1666.667 us) --> Read time : 126.913 us, Update time : 668.672 us, Write time : 960.088 us[0m +220.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157238 ms (missed cycles : 2).[0m +221.03sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +221.70sWARNros2_control_nodeOverrun might occur, Total time : 1883.645 us (Expected < 1666.667 us) --> Read time : 181.573 us, Update time : 140.483 us, Write time : 1561.589 us[0m +221.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097749 ms (missed cycles : 2).[0m +222.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.122490 ms (missed cycles : 6).[0m +222.79sWARNros2_control_nodeOverrun might occur, Total time : 1766.413 us (Expected < 1666.667 us) --> Read time : 610.521 us, Update time : 878.317 us, Write time : 277.575 us[0m +223.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588205 ms (missed cycles : 3).[0m +223.93sWARNros2_control_nodeOverrun might occur, Total time : 6478.252 us (Expected < 1666.667 us) --> Read time : 151.463 us, Update time : 540.000 us, Write time : 5786.789 us[0m +224.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512925 ms (missed cycles : 3).[0m +225.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511539 ms (missed cycles : 3).[0m +226.42sWARNros2_control_nodeOverrun might occur, Total time : 1685.522 us (Expected < 1666.667 us) --> Read time : 163.284 us, Update time : 211.633 us, Write time : 1310.605 us[0m +226.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216523 ms (missed cycles : 4).[0m +227.74sWARNros2_control_nodeOverrun might occur, Total time : 1721.152 us (Expected < 1666.667 us) --> Read time : 185.413 us, Update time : 1052.670 us, Write time : 483.069 us[0m +228.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777183 ms (missed cycles : 2).[0m +229.03sWARNros2_control_nodeOverrun might occur, Total time : 3960.434 us (Expected < 1666.667 us) --> Read time : 124.272 us, Update time : 3434.414 us, Write time : 401.748 us[0m +229.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172052 ms (missed cycles : 3).[0m +229.28sINFOros2_control_nodeGot request to cancel goal[0m +229.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +229.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781203681.44847941 seconds +229.88sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781203681.99452662 seconds. +230.05sWARNros2_control_nodeOverrun might occur, Total time : 2405.375 us (Expected < 1666.667 us) --> Read time : 139.263 us, Update time : 1946.586 us, Write time : 319.526 us[0m +230.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630760 ms (missed cycles : 2).[0m +230.22sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +231.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687802 ms (missed cycles : 2).[0m +231.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] +231.86sWARNros2_control_nodeOverrun might occur, Total time : 3069.988 us (Expected < 1666.667 us) --> Read time : 205.474 us, Update time : 241.695 us, Write time : 2622.819 us[0m +232.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929146 ms (missed cycles : 4).[0m +232.93sWARNros2_control_nodeOverrun might occur, Total time : 2044.047 us (Expected < 1666.667 us) --> Read time : 124.972 us, Update time : 885.006 us, Write time : 1034.069 us[0m +233.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617341 ms (missed cycles : 3).[0m +233.94sWARNros2_control_nodeOverrun might occur, Total time : 3686.309 us (Expected < 1666.667 us) --> Read time : 134.562 us, Update time : 99.022 us, Write time : 3452.725 us[0m +234.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900072 ms (missed cycles : 2).[0m +235.10sWARNros2_control_nodeOverrun might occur, Total time : 2352.554 us (Expected < 1666.667 us) --> Read time : 132.213 us, Update time : 1924.646 us, Write time : 295.695 us[0m +235.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729181 ms (missed cycles : 2).[0m +236.13sWARNros2_control_nodeOverrun might occur, Total time : 2875.274 us (Expected < 1666.667 us) --> Read time : 186.714 us, Update time : 2340.883 us, Write time : 347.677 us[0m +236.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026488 ms (missed cycles : 4).[0m +237.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703196 ms (missed cycles : 4).[0m +237.49sWARNros2_control_nodeOverrun might occur, Total time : 2546.498 us (Expected < 1666.667 us) --> Read time : 252.085 us, Update time : 1946.556 us, Write time : 347.857 us[0m +238.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342840 ms (missed cycles : 3).[0m +238.94sWARNros2_control_nodeOverrun might occur, Total time : 2051.928 us (Expected < 1666.667 us) --> Read time : 218.304 us, Update time : 204.814 us, Write time : 1628.810 us[0m +239.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.025960 ms (missed cycles : 7).[0m +240.06sWARNros2_control_nodeOverrun might occur, Total time : 4079.026 us (Expected < 1666.667 us) --> Read time : 138.142 us, Update time : 3429.904 us, Write time : 510.980 us[0m +240.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012962 ms (missed cycles : 4).[0m +241.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748752 ms (missed cycles : 2).[0m +241.66sWARNros2_control_nodeOverrun might occur, Total time : 3971.613 us (Expected < 1666.667 us) --> Read time : 206.954 us, Update time : 3377.412 us, Write time : 387.247 us[0m +242.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580121 ms (missed cycles : 4).[0m +242.78sWARNros2_control_nodeOverrun might occur, Total time : 2001.678 us (Expected < 1666.667 us) --> Read time : 161.833 us, Update time : 1502.888 us, Write time : 336.957 us[0m +243.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484448 ms (missed cycles : 2).[0m +244.09sWARNros2_control_nodeOverrun might occur, Total time : 3536.266 us (Expected < 1666.667 us) --> Read time : 144.722 us, Update time : 2981.946 us, Write time : 409.598 us[0m +244.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244688 ms (missed cycles : 7).[0m +245.13sWARNros2_control_nodeOverrun might occur, Total time : 1776.563 us (Expected < 1666.667 us) --> Read time : 1204.492 us, Update time : 175.094 us, Write time : 396.977 us[0m +245.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871702 ms (missed cycles : 2).[0m +246.39sWARNros2_control_nodeOverrun might occur, Total time : 6991.290 us (Expected < 1666.667 us) --> Read time : 146.012 us, Update time : 204.394 us, Write time : 6640.884 us[0m +246.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462697 ms (missed cycles : 5).[0m +247.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921312 ms (missed cycles : 3).[0m +247.77sWARNros2_control_nodeOverrun might occur, Total time : 5192.817 us (Expected < 1666.667 us) --> Read time : 133.312 us, Update time : 4716.928 us, Write time : 342.577 us[0m +248.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498420 ms (missed cycles : 4).[0m +248.79sWARNros2_control_nodeOverrun might occur, Total time : 2480.106 us (Expected < 1666.667 us) --> Read time : 548.870 us, Update time : 671.723 us, Write time : 1259.513 us[0m +249.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352032 ms (missed cycles : 3).[0m +250.28sWARNros2_control_nodeOverrun might occur, Total time : 4527.535 us (Expected < 1666.667 us) --> Read time : 193.344 us, Update time : 3934.154 us, Write time : 400.037 us[0m +250.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603934 ms (missed cycles : 2).[0m +251.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113918 ms (missed cycles : 2).[0m +252.64sWARNros2_control_nodeOverrun might occur, Total time : 2133.620 us (Expected < 1666.667 us) --> Read time : 813.755 us, Update time : 1041.280 us, Write time : 278.585 us[0m +252.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668767 ms (missed cycles : 2).[0m +253.93sWARNros2_control_nodeOverrun might occur, Total time : 2162.589 us (Expected < 1666.667 us) --> Read time : 619.261 us, Update time : 458.068 us, Write time : 1085.260 us[0m +253.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740806 ms (missed cycles : 2).[0m +254.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008182 ms (missed cycles : 2).[0m +255.69sWARNros2_control_nodeOverrun might occur, Total time : 2412.785 us (Expected < 1666.667 us) --> Read time : 151.763 us, Update time : 128.012 us, Write time : 2133.010 us[0m +255.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655213 ms (missed cycles : 3).[0m +257.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450136 ms (missed cycles : 3).[0m +257.15sWARNros2_control_nodeOverrun might occur, Total time : 1835.135 us (Expected < 1666.667 us) --> Read time : 152.083 us, Update time : 1331.205 us, Write time : 351.847 us[0m +258.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755573 ms (missed cycles : 2).[0m +258.35sWARNros2_control_nodeOverrun might occur, Total time : 4958.653 us (Expected < 1666.667 us) --> Read time : 125.282 us, Update time : 233.585 us, Write time : 4599.786 us[0m +259.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908527 ms (missed cycles : 3).[0m +259.40sWARNros2_control_nodeOverrun might occur, Total time : 2059.748 us (Expected < 1666.667 us) --> Read time : 146.992 us, Update time : 471.909 us, Write time : 1440.847 us[0m +259.73sINFOobjective_server_nodePlanning for 29 path waypoints. +260.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460003 ms (missed cycles : 3).[0m +260.40sWARNros2_control_nodeOverrun might occur, Total time : 1722.332 us (Expected < 1666.667 us) --> Read time : 573.020 us, Update time : 760.425 us, Write time : 388.887 us[0m +261.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.581268 ms (missed cycles : 8).[0m +261.85sWARNros2_control_nodeOverrun might occur, Total time : 2149.810 us (Expected < 1666.667 us) --> Read time : 160.943 us, Update time : 91.481 us, Write time : 1897.386 us[0m +262.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261654 ms (missed cycles : 2).[0m +263.24sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m +263.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487479 ms (missed cycles : 3).[0m +263.76sWARNros2_control_nodeOverrun might occur, Total time : 3513.976 us (Expected < 1666.667 us) --> Read time : 189.433 us, Update time : 496.780 us, Write time : 2827.763 us[0m +264.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885789 ms (missed cycles : 2).[0m +264.85sWARNros2_control_nodeOverrun might occur, Total time : 4967.933 us (Expected < 1666.667 us) --> Read time : 141.512 us, Update time : 93.252 us, Write time : 4733.169 us[0m +265.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109938 ms (missed cycles : 2).[0m +266.11sWARNros2_control_nodeOverrun might occur, Total time : 1667.481 us (Expected < 1666.667 us) --> Read time : 284.705 us, Update time : 366.167 us, Write time : 1016.609 us[0m +266.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870823 ms (missed cycles : 2).[0m +267.42sWARNros2_control_nodeOverrun might occur, Total time : 2670.040 us (Expected < 1666.667 us) --> Read time : 151.583 us, Update time : 2175.860 us, Write time : 342.597 us[0m +267.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883054 ms (missed cycles : 2).[0m +268.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998434 ms (missed cycles : 2).[0m +268.54sWARNros2_control_nodeOverrun might occur, Total time : 1961.147 us (Expected < 1666.667 us) --> Read time : 974.278 us, Update time : 324.936 us, Write time : 661.933 us[0m +269.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813028 ms (missed cycles : 3).[0m +269.83sWARNros2_control_nodeOverrun might occur, Total time : 2204.581 us (Expected < 1666.667 us) --> Read time : 181.413 us, Update time : 1664.021 us, Write time : 359.147 us[0m +270.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135791 ms (missed cycles : 5).[0m +271.04sWARNros2_control_nodeOverrun might occur, Total time : 3169.089 us (Expected < 1666.667 us) --> Read time : 187.723 us, Update time : 211.014 us, Write time : 2770.352 us[0m +271.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680868 ms (missed cycles : 5).[0m +272.19sWARNros2_control_nodeOverrun might occur, Total time : 2205.422 us (Expected < 1666.667 us) --> Read time : 161.093 us, Update time : 1435.947 us, Write time : 608.382 us[0m +272.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836605 ms (missed cycles : 2).[0m +273.59sWARNros2_control_nodeOverrun might occur, Total time : 3004.136 us (Expected < 1666.667 us) --> Read time : 143.303 us, Update time : 524.960 us, Write time : 2335.873 us[0m +273.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025622 ms (missed cycles : 4).[0m +274.69sWARNros2_control_nodeOverrun might occur, Total time : 3502.855 us (Expected < 1666.667 us) --> Read time : 131.462 us, Update time : 2892.024 us, Write time : 479.369 us[0m +274.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852583 ms (missed cycles : 2).[0m +275.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693943 ms (missed cycles : 4).[0m +276.52sINFOobjective_server_nodePlanning for 38 path waypoints. +276.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097232 ms (missed cycles : 4).[0m +276.94sWARNros2_control_nodeOverrun might occur, Total time : 1967.267 us (Expected < 1666.667 us) --> Read time : 129.652 us, Update time : 1554.199 us, Write time : 283.416 us[0m +277.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011827 ms (missed cycles : 2).[0m +278.46sWARNros2_control_nodeOverrun might occur, Total time : 2034.578 us (Expected < 1666.667 us) --> Read time : 148.543 us, Update time : 1536.259 us, Write time : 349.776 us[0m +278.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795327 ms (missed cycles : 2).[0m +279.77sWARNros2_control_nodeOverrun might occur, Total time : 4121.547 us (Expected < 1666.667 us) --> Read time : 129.062 us, Update time : 112.992 us, Write time : 3879.493 us[0m +279.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345053 ms (missed cycles : 3).[0m +281.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.341540 ms (missed cycles : 7).[0m +281.31sWARNros2_control_nodeOverrun might occur, Total time : 4136.007 us (Expected < 1666.667 us) --> Read time : 136.222 us, Update time : 164.153 us, Write time : 3835.632 us[0m +282.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885984 ms (missed cycles : 2).[0m +283.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.983090 ms (missed cycles : 6).[0m +283.22sWARNros2_control_nodeOverrun might occur, Total time : 1859.484 us (Expected < 1666.667 us) --> Read time : 156.653 us, Update time : 1379.735 us, Write time : 323.096 us[0m +284.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049042 ms (missed cycles : 5).[0m +284.83sWARNros2_control_nodeOverrun might occur, Total time : 5562.935 us (Expected < 1666.667 us) --> Read time : 180.274 us, Update time : 4923.362 us, Write time : 459.299 us[0m +285.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942606 ms (missed cycles : 2).[0m +286.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836282 ms (missed cycles : 2).[0m +287.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345847 ms (missed cycles : 3).[0m +287.42sWARNros2_control_nodeOverrun might occur, Total time : 2348.304 us (Expected < 1666.667 us) --> Read time : 149.903 us, Update time : 1798.774 us, Write time : 399.627 us[0m +288.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863973 ms (missed cycles : 6).[0m +288.92sWARNros2_control_nodeOverrun might occur, Total time : 1872.635 us (Expected < 1666.667 us) --> Read time : 546.160 us, Update time : 930.127 us, Write time : 396.348 us[0m +289.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937043 ms (missed cycles : 3).[0m +289.98sINFOobjective_server_nodePlanning for 39 path waypoints. +290.35sWARNros2_control_nodeOverrun might occur, Total time : 8711.363 us (Expected < 1666.667 us) --> Read time : 235.344 us, Update time : 8014.750 us, Write time : 461.269 us[0m +290.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682191 ms (missed cycles : 2).[0m +291.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.945319 ms (missed cycles : 5).[0m +291.76sWARNros2_control_nodeOverrun might occur, Total time : 3247.211 us (Expected < 1666.667 us) --> Read time : 129.102 us, Update time : 113.752 us, Write time : 3004.357 us[0m +292.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096614 ms (missed cycles : 4).[0m +293.14sWARNros2_control_nodeOverrun might occur, Total time : 1678.562 us (Expected < 1666.667 us) --> Read time : 183.724 us, Update time : 152.163 us, Write time : 1342.675 us[0m +293.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807384 ms (missed cycles : 3).[0m +294.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482848 ms (missed cycles : 3).[0m +295.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267443 ms (missed cycles : 2).[0m +296.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761084 ms (missed cycles : 3).[0m +296.85sWARNros2_control_nodeOverrun might occur, Total time : 4126.318 us (Expected < 1666.667 us) --> Read time : 149.883 us, Update time : 3619.978 us, Write time : 356.457 us[0m +297.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103744 ms (missed cycles : 2).[0m +297.96sWARNros2_control_nodeOverrun might occur, Total time : 2458.406 us (Expected < 1666.667 us) --> Read time : 124.552 us, Update time : 1880.295 us, Write time : 453.559 us[0m +298.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.958643 ms (missed cycles : 6).[0m +299.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558642 ms (missed cycles : 3).[0m +300.84sWARNros2_control_nodeOverrun might occur, Total time : 4015.076 us (Expected < 1666.667 us) --> Read time : 202.424 us, Update time : 3472.895 us, Write time : 339.757 us[0m +300.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.336983 ms (missed cycles : 6).[0m +302.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676613 ms (missed cycles : 2).[0m +302.30sWARNros2_control_nodeOverrun might occur, Total time : 4495.904 us (Expected < 1666.667 us) --> Read time : 129.283 us, Update time : 3867.692 us, Write time : 498.929 us[0m +302.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781203754.94470572 seconds +303.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628008 ms (missed cycles : 3).[0m +303.31sWARNros2_control_nodeOverrun might occur, Total time : 2780.192 us (Expected < 1666.667 us) --> Read time : 162.283 us, Update time : 112.632 us, Write time : 2505.277 us[0m +303.37sINFOobjective_server_nodeObjective `Semantic Navigate` starting at time: 1781203755.49239254 seconds. +303.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller +303.44sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_velocity_controller +303.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller_nav2 ][0m +303.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m +303.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller platform_velocity_controller platform_velocity_controller ][0m +303.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller_nav2 ][0m +304.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639131 ms (missed cycles : 4).[0m +304.97sWARNros2_control_nodeOverrun might occur, Total time : 1793.443 us (Expected < 1666.667 us) --> Read time : 242.894 us, Update time : 928.188 us, Write time : 622.361 us[0m +305.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836165 ms (missed cycles : 2).[0m +306.02sWARNros2_control_nodeOverrun might occur, Total time : 3387.443 us (Expected < 1666.667 us) --> Read time : 130.932 us, Update time : 66.641 us, Write time : 3189.870 us[0m +306.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527722 ms (missed cycles : 4).[0m +306.51sERRORobjective_server_nodeNavigateToPoseAction Error: Action server '//navigate_to_pose' not available. +306.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Semantic Navigate` did not succeed at time: 1781203758.63270950 seconds +307.17sWARNros2_control_nodeOverrun might occur, Total time : 3077.278 us (Expected < 1666.667 us) --> Read time : 159.483 us, Update time : 98.312 us, Write time : 2819.483 us[0m +307.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781203759.30639958 seconds. +307.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: platform_velocity_controller_nav2 +307.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller ][0m +307.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller_nav2 ][0m +307.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller_nav2 ][0m +307.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177191 ms (missed cycles : 4).[0m +307.57sINFOobjective_server_nodeFound path in 0 iterations (1.16e-06 s). +308.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470370 ms (missed cycles : 2).[0m +308.43sWARNros2_control_nodeOverrun might occur, Total time : 2756.022 us (Expected < 1666.667 us) --> Read time : 164.373 us, Update time : 206.394 us, Write time : 2385.255 us[0m +309.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] +309.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457210 ms (missed cycles : 3).[0m +310.20sWARNros2_control_nodeOverrun might occur, Total time : 3391.674 us (Expected < 1666.667 us) --> Read time : 124.122 us, Update time : 148.023 us, Write time : 3119.529 us[0m +310.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353559 ms (missed cycles : 3).[0m +311.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192152 ms (missed cycles : 2).[0m +312.32sWARNros2_control_nodeOverrun might occur, Total time : 1749.423 us (Expected < 1666.667 us) --> Read time : 168.873 us, Update time : 117.753 us, Write time : 1462.797 us[0m +312.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334926 ms (missed cycles : 4).[0m +313.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078147 ms (missed cycles : 4).[0m +313.83sWARNros2_control_nodeOverrun might occur, Total time : 4058.156 us (Expected < 1666.667 us) --> Read time : 172.863 us, Update time : 3424.234 us, Write time : 461.059 us[0m +314.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352596 ms (missed cycles : 3).[0m +315.51sWARNros2_control_nodeOverrun might occur, Total time : 3823.641 us (Expected < 1666.667 us) --> Read time : 209.004 us, Update time : 3239.430 us, Write time : 375.207 us[0m +315.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815720 ms (missed cycles : 3).[0m +316.64sWARNros2_control_nodeOverrun might occur, Total time : 2690.961 us (Expected < 1666.667 us) --> Read time : 173.164 us, Update time : 797.664 us, Write time : 1720.133 us[0m +316.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835739 ms (missed cycles : 2).[0m +317.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765191 ms (missed cycles : 3).[0m +318.27sWARNros2_control_nodeOverrun might occur, Total time : 1926.696 us (Expected < 1666.667 us) --> Read time : 140.972 us, Update time : 125.943 us, Write time : 1659.781 us[0m +318.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312309 ms (missed cycles : 2).[0m +319.66sWARNros2_control_nodeOverrun might occur, Total time : 3751.360 us (Expected < 1666.667 us) --> Read time : 136.403 us, Update time : 132.122 us, Write time : 3482.835 us[0m +319.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810039 ms (missed cycles : 2).[0m +320.92sWARNros2_control_nodeOverrun might occur, Total time : 1851.575 us (Expected < 1666.667 us) --> Read time : 193.524 us, Update time : 1382.556 us, Write time : 275.495 us[0m +321.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676512 ms (missed cycles : 2).[0m +322.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043549 ms (missed cycles : 3).[0m +322.21sWARNros2_control_nodeOverrun might occur, Total time : 2007.718 us (Expected < 1666.667 us) --> Read time : 211.174 us, Update time : 1437.787 us, Write time : 358.757 us[0m +323.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139395 ms (missed cycles : 2).[0m +323.25sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +323.62sWARNros2_control_nodeOverrun might occur, Total time : 4039.976 us (Expected < 1666.667 us) --> Read time : 140.613 us, Update time : 3493.495 us, Write time : 405.868 us[0m +324.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054090 ms (missed cycles : 2).[0m +324.78sWARNros2_control_nodeOverrun might occur, Total time : 5689.307 us (Expected < 1666.667 us) --> Read time : 127.673 us, Update time : 5142.036 us, Write time : 419.598 us[0m +325.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963456 ms (missed cycles : 3).[0m +326.23sWARNros2_control_nodeOverrun might occur, Total time : 1791.134 us (Expected < 1666.667 us) --> Read time : 1023.339 us, Update time : 410.508 us, Write time : 357.287 us[0m +326.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796246 ms (missed cycles : 2).[0m +327.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668320 ms (missed cycles : 2).[0m +327.63sWARNros2_control_nodeOverrun might occur, Total time : 1856.004 us (Expected < 1666.667 us) --> Read time : 117.802 us, Update time : 1326.264 us, Write time : 411.938 us[0m +328.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456455 ms (missed cycles : 6).[0m +328.82sWARNros2_control_nodeOverrun might occur, Total time : 2515.957 us (Expected < 1666.667 us) --> Read time : 131.793 us, Update time : 1777.883 us, Write time : 606.281 us[0m +329.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.947114 ms (missed cycles : 7).[0m +330.47sWARNros2_control_nodeOverrun might occur, Total time : 5363.519 us (Expected < 1666.667 us) --> Read time : 147.712 us, Update time : 4739.508 us, Write time : 476.299 us[0m +330.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773572 ms (missed cycles : 2).[0m +331.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427786 ms (missed cycles : 2).[0m +331.79sWARNros2_control_nodeOverrun might occur, Total time : 3477.155 us (Expected < 1666.667 us) --> Read time : 131.832 us, Update time : 2847.334 us, Write time : 497.989 us[0m +332.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162492 ms (missed cycles : 4).[0m +333.61sWARNros2_control_nodeOverrun might occur, Total time : 2428.856 us (Expected < 1666.667 us) --> Read time : 122.043 us, Update time : 183.523 us, Write time : 2123.290 us[0m +333.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574976 ms (missed cycles : 2).[0m +334.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363277 ms (missed cycles : 2).[0m +334.90sWARNros2_control_nodeOverrun might occur, Total time : 7220.645 us (Expected < 1666.667 us) --> Read time : 149.402 us, Update time : 6681.165 us, Write time : 390.078 us[0m +335.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533094 ms (missed cycles : 3).[0m +336.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997520 ms (missed cycles : 5).[0m +337.46sWARNros2_control_nodeOverrun might occur, Total time : 1701.802 us (Expected < 1666.667 us) --> Read time : 191.334 us, Update time : 121.062 us, Write time : 1389.406 us[0m +338.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890647 ms (missed cycles : 2).[0m +339.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.967506 ms (missed cycles : 7).[0m +340.01sWARNros2_control_nodeOverrun might occur, Total time : 1748.503 us (Expected < 1666.667 us) --> Read time : 157.293 us, Update time : 1279.694 us, Write time : 311.516 us[0m +340.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530652 ms (missed cycles : 3).[0m +341.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712776 ms (missed cycles : 2).[0m +341.50sWARNros2_control_nodeOverrun might occur, Total time : 3507.895 us (Expected < 1666.667 us) --> Read time : 134.922 us, Update time : 3052.507 us, Write time : 320.466 us[0m +342.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096693 ms (missed cycles : 2).[0m +343.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845568 ms (missed cycles : 2).[0m +343.97sWARNros2_control_nodeOverrun might occur, Total time : 2197.151 us (Expected < 1666.667 us) --> Read time : 190.993 us, Update time : 1404.436 us, Write time : 601.722 us[0m +344.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625465 ms (missed cycles : 3).[0m +345.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684195 ms (missed cycles : 3).[0m +345.33sWARNros2_control_nodeOverrun might occur, Total time : 1717.552 us (Expected < 1666.667 us) --> Read time : 144.873 us, Update time : 1232.113 us, Write time : 340.566 us[0m +346.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.956213 ms (missed cycles : 6).[0m +346.67sWARNros2_control_nodeOverrun might occur, Total time : 2328.493 us (Expected < 1666.667 us) --> Read time : 140.413 us, Update time : 143.752 us, Write time : 2044.328 us[0m +347.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070568 ms (missed cycles : 4).[0m +347.99sWARNros2_control_nodeOverrun might occur, Total time : 4282.701 us (Expected < 1666.667 us) --> Read time : 128.433 us, Update time : 3821.591 us, Write time : 332.677 us[0m +348.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248040 ms (missed cycles : 4).[0m +349.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093534 ms (missed cycles : 3).[0m +349.43sWARNros2_control_nodeOverrun might occur, Total time : 3550.016 us (Expected < 1666.667 us) --> Read time : 177.383 us, Update time : 2988.266 us, Write time : 384.367 us[0m +350.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334622 ms (missed cycles : 2).[0m +350.74sWARNros2_control_nodeOverrun might occur, Total time : 1945.636 us (Expected < 1666.667 us) --> Read time : 205.044 us, Update time : 170.713 us, Write time : 1569.879 us[0m +351.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949146 ms (missed cycles : 4).[0m +352.25sWARNros2_control_nodeOverrun might occur, Total time : 1787.974 us (Expected < 1666.667 us) --> Read time : 128.233 us, Update time : 187.263 us, Write time : 1472.478 us[0m +352.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298339 ms (missed cycles : 3).[0m +353.36sWARNros2_control_nodeOverrun might occur, Total time : 1682.841 us (Expected < 1666.667 us) --> Read time : 114.562 us, Update time : 783.344 us, Write time : 784.935 us[0m +353.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510863 ms (missed cycles : 3).[0m +354.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448504 ms (missed cycles : 3).[0m +354.51sWARNros2_control_nodeOverrun might occur, Total time : 3488.226 us (Expected < 1666.667 us) --> Read time : 135.413 us, Update time : 2970.025 us, Write time : 382.788 us[0m +355.57sWARNros2_control_nodeOverrun might occur, Total time : 2798.812 us (Expected < 1666.667 us) --> Read time : 175.803 us, Update time : 127.742 us, Write time : 2495.267 us[0m +355.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278197 ms (missed cycles : 2).[0m +356.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404909 ms (missed cycles : 3).[0m +357.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561559 ms (missed cycles : 5).[0m +357.88sWARNros2_control_nodeOverrun might occur, Total time : 2170.300 us (Expected < 1666.667 us) --> Read time : 185.793 us, Update time : 96.381 us, Write time : 1888.126 us[0m +358.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783093 ms (missed cycles : 2).[0m +358.94sWARNros2_control_nodeOverrun might occur, Total time : 2258.393 us (Expected < 1666.667 us) --> Read time : 154.413 us, Update time : 327.176 us, Write time : 1776.804 us[0m +359.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381180 ms (missed cycles : 4).[0m +360.37sWARNros2_control_nodeOverrun might occur, Total time : 4033.996 us (Expected < 1666.667 us) --> Read time : 596.031 us, Update time : 2984.176 us, Write time : 453.789 us[0m +360.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121590 ms (missed cycles : 5).[0m +361.54sWARNros2_control_nodeOverrun might occur, Total time : 1919.606 us (Expected < 1666.667 us) --> Read time : 159.283 us, Update time : 1432.096 us, Write time : 328.227 us[0m +361.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722715 ms (missed cycles : 3).[0m +362.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552423 ms (missed cycles : 4).[0m +363.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781203815.59653997 seconds +363.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718537 ms (missed cycles : 2).[0m +363.89sWARNros2_control_nodeOverrun might occur, Total time : 4451.182 us (Expected < 1666.667 us) --> Read time : 118.772 us, Update time : 3973.744 us, Write time : 358.666 us[0m +364.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781203816.14660096 seconds. +364.36sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +364.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312438 ms (missed cycles : 4).[0m +365.01sWARNros2_control_nodeOverrun might occur, Total time : 5384.270 us (Expected < 1666.667 us) --> Read time : 121.152 us, Update time : 4721.288 us, Write time : 541.830 us[0m +365.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737438 ms (missed cycles : 5).[0m +366.19sWARNros2_control_nodeOverrun might occur, Total time : 7120.343 us (Expected < 1666.667 us) --> Read time : 159.013 us, Update time : 6559.352 us, Write time : 401.978 us[0m +366.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693360 ms (missed cycles : 3).[0m +367.85sWARNros2_control_nodeOverrun might occur, Total time : 2946.255 us (Expected < 1666.667 us) --> Read time : 141.663 us, Update time : 2484.526 us, Write time : 320.066 us[0m +368.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.570823 ms (missed cycles : 7).[0m +368.64sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +368.66sINFOobjective_server_nodePath shortcutter: [X__________________X] +368.69sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +368.73sINFOobjective_server_nodePath shortcutter: [X____________________X] +368.76sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). +368.81sINFOobjective_server_nodePath shortcutter: [X_________________________X] +368.85sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). +368.98sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +369.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742957 ms (missed cycles : 2).[0m +369.02sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). +369.23sINFOobjective_server_nodeFound path in 29 iterations (0.028765 s). +369.43sWARNros2_control_nodeOverrun might occur, Total time : 2789.302 us (Expected < 1666.667 us) --> Read time : 131.683 us, Update time : 2176.340 us, Write time : 481.279 us[0m +369.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] +369.52sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +369.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +369.92sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). +370.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374696 ms (missed cycles : 3).[0m +370.27sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +370.32sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +371.14sWARNros2_control_nodeOverrun might occur, Total time : 2281.993 us (Expected < 1666.667 us) --> Read time : 123.442 us, Update time : 1840.265 us, Write time : 318.286 us[0m +371.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718746 ms (missed cycles : 2).[0m +372.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670464 ms (missed cycles : 2).[0m +372.50sWARNros2_control_nodeOverrun might occur, Total time : 4158.898 us (Expected < 1666.667 us) --> Read time : 3596.587 us, Update time : 167.874 us, Write time : 394.437 us[0m +373.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398866 ms (missed cycles : 5).[0m +374.17sWARNros2_control_nodeOverrun might occur, Total time : 2025.968 us (Expected < 1666.667 us) --> Read time : 129.292 us, Update time : 1617.180 us, Write time : 279.496 us[0m +374.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870099 ms (missed cycles : 2).[0m +375.20sWARNros2_control_nodeOverrun might occur, Total time : 1683.671 us (Expected < 1666.667 us) --> Read time : 111.112 us, Update time : 1191.992 us, Write time : 380.567 us[0m +375.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157972 ms (missed cycles : 2).[0m +376.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781203828.43420887 seconds +376.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775560 ms (missed cycles : 3).[0m +376.81sWARNros2_control_nodeOverrun might occur, Total time : 2024.648 us (Expected < 1666.667 us) --> Read time : 139.373 us, Update time : 1544.119 us, Write time : 341.156 us[0m +376.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203829.02113843 seconds. +377.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682267 ms (missed cycles : 2).[0m +377.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203829.56128716 seconds +378.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781203830.10990810 seconds. +378.00sWARNros2_control_nodeOverrun might occur, Total time : 2292.443 us (Expected < 1666.667 us) --> Read time : 1811.574 us, Update time : 170.623 us, Write time : 310.246 us[0m +378.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506572 ms (missed cycles : 3).[0m +378.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781203830.59005785 seconds +378.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +379.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453924 ms (missed cycles : 3).[0m +380.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980864 ms (missed cycles : 2).[0m +380.51sWARNros2_control_nodeOverrun might occur, Total time : 4337.201 us (Expected < 1666.667 us) --> Read time : 141.903 us, Update time : 349.596 us, Write time : 3845.702 us[0m +381.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765563 ms (missed cycles : 2).[0m +381.75sWARNros2_control_nodeOverrun might occur, Total time : 1688.211 us (Expected < 1666.667 us) --> Read time : 692.253 us, Update time : 131.832 us, Write time : 864.126 us[0m +382.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028288 ms (missed cycles : 2).[0m +383.25sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +383.35sWARNros2_control_nodeOverrun might occur, Total time : 1793.214 us (Expected < 1666.667 us) --> Read time : 147.873 us, Update time : 709.493 us, Write time : 935.848 us[0m +383.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247458 ms (missed cycles : 5).[0m +384.13sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.14sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.14sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.15sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.15sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +384.17sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.17sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.18sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.18sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +384.20sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.20sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.21sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.21sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.22sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.22sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.22sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.23sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.23sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.23sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.24sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.24sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.24sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +384.25sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +384.27sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +384.28sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +384.28sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +384.30sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +384.32sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +384.34sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +384.34sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +384.37sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +384.39sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +384.41sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +384.44sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +384.45sINFOweb_video_server-31process has finished cleanly [pid 9396] +384.45sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9395] +384.47sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +384.49sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +384.51sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +384.51sERRORmove_group-20process has died [pid 9306, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_zf0zns59 --params-file /tmp/launch_params_4_43id5k --params-file /tmp/launch_params_ysb5fal4 --params-file /tmp/launch_params_f4bgwfzl --params-file /tmp/launch_params_bj1dki0g --params-file /tmp/launch_params_94ig31f7 --params-file /tmp/launch_params_3_xseb0r --params-file /tmp/launch_params_u8o6bnof --params-file /tmp/launch_params_h3x5pt3i']. +384.52sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +384.55sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +384.56sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +384.58sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +384.60sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +384.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +384.60sERRORui_teleop_bridgeTraceback (most recent call last): +384.60sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +384.60sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +384.60sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +384.60sINFOui_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 +384.60sINFOui_teleop_bridgerclpy.shutdown() +384.60sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +384.60sINFOui_teleop_bridge_shutdown(context=context) +384.60sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +384.60sINFOui_teleop_bridgecontext.shutdown() +384.60sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +384.60sINFOui_teleop_bridgeself.__context.shutdown() +384.60sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +384.60sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +384.60sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +384.61sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +384.61sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +384.61sINFOcomponent_container_mtStopping planning scene monitor[0m +384.61sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +384.61sERRORobjective_server_node_main-25process has died [pid 9389, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_4mnagi53 --params-file /tmp/launch_params_bdzm4bxo --params-file /tmp/launch_params_5hyyajd8 --params-file /tmp/launch_params_pvps0cog --params-file /tmp/launch_params_cyhn1bj4 --params-file /tmp/launch_params_xv_rpcxo']. +384.61sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +384.61sWARNros2_control_nodeOverrun might occur, Total time : 2044.688 us (Expected < 1666.667 us) --> Read time : 965.718 us, Update time : 679.773 us, Write time : 399.197 us[0m +384.61sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +384.61sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +384.61sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +384.61sERRORmove_groupwhat(): context cannot be slept with because it's invalid +384.61sERRORmove_groupStack trace (most recent call last) in thread 9865: +384.61sINFOobjective_server_node[2026-06-11 18:50:36.565] [moveit_pro_license] [info] +384.61sINFOobjective_server_node* Application has successfully terminated +384.61sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +384.61sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe7788bba63, in __clone +384.61sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe77882eaa3, in +384.61sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe778ac0db3, in +384.61sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7fe77911519a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +384.62sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe778e334d0, in rclcpp::Rate::sleep() +384.62sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe778d86a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +384.62sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe778d4ba71, in +384.62sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe778a8f390, in __cxa_throw +384.62sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe778a79a54, in std::terminate() +384.62sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe778a8f0d9, in +384.62sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe778a79ff4, in +384.62sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe7787ba8fe, in abort +384.62sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe7787d727d, in raise +384.62sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe778830b2c, in pthread_kill +384.62sERRORmove_groupAborted (Signal sent by tkill() 9306 0) +384.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +384.62sINFOros2_control_nodeShutdown request received....[0m +384.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +384.62sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +384.62sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +384.62sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +384.62sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +384.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +384.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +384.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +384.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +384.62sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +384.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +384.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +384.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +384.62sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +384.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +384.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +384.62sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +384.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +384.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +384.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +384.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +384.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +384.62sINFOros2_control_nodeShutting down the controller manager.[0m +384.62sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +384.62sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +384.62sERRORobjective_server_nodeStack trace (most recent call last): +384.62sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +384.62sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564e5642e6a4, in _start +384.62sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e1c5c28a, in __libc_start_main +384.62sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e1c5c1d0, in +384.62sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e1c79bbd, in exit +384.62sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e1c79a75, in +384.62sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fb2e214b4a2, in spdlog::details::registry::~registry() +384.62sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fb2e215669d, 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() +384.62sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fb2e2150965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +384.62sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564e56435315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +384.62sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564e564345a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +384.62sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564e56430b7b, in spdlog_ros::RosSink::~RosSink() +384.62sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564e5642ed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +384.62sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e27ce454, in rclcpp::Node::~Node() +384.62sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e2789515, in +384.63sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e27ccd20, in +384.63sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e27ccc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +384.63sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e27895d9, in +384.63sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e278e161, in rclcpp::CallbackGroup::~CallbackGroup() +384.63sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fb292af9450]) +384.63sERRORodom_qos_relay.pyTraceback (most recent call last): +384.63sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +384.63sINFOodom_qos_relay.pymain() +384.63sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +384.63sINFOodom_qos_relay.pyrclpy.spin(node) +384.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +384.63sINFOodom_qos_relay.pyexecutor.spin_once() +384.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +384.63sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +384.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +384.63sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +384.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +384.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +384.63sINFOodom_qos_relay.pyreturn next(self._cb_iter) +384.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +384.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +384.63sINFOodom_qos_relay.pyraise ExternalShutdownException() +384.63sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +384.63sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +384.63sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +384.64sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +384.64sINFOros2_control_nodeAsync messages lost 0[0m ×2 +384.64sINFOros2_control_nodepublish_async_failures_ 5[0m +384.64sINFOros2_control_nodepublish_async_failures_ 3[0m +385.38sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9388] +385.40sINFOexecute_objective_bridge-27process has finished cleanly [pid 9392] +385.41sERRORui_teleop_bridge-28process has died [pid 9393, 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_8bvze0xz']. +385.41sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9312] +385.47sINFOparameter_manager_node-21process has finished cleanly [pid 9309] +385.51sINFOwaypoint_manager_node-22process has finished cleanly [pid 9311] +385.53sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9208] +385.55sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9207] +385.58sINFOstatic_transform_publisher-4process has finished cleanly [pid 9205] +385.60sINFOstatic_transform_publisher-3process has finished cleanly [pid 9204] +385.61sINFOcomponent_container_mt-26process has finished cleanly [pid 9391] +385.62sINFOstatic_transform_publisher-2process has finished cleanly [pid 9203] +385.63sERRORodom_qos_relay.py-5process has died [pid 9206, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +386.86sINFOweb_bridge-29process has finished cleanly [pid 9394] +386.86sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +387.20sINFOros2_control_node-8process has finished cleanly [pid 9209] +389.14sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +389.15sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +389.16sERRORcomponent_container_isolated-1process has died [pid 9202, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_30qq7tk4 --params-file /tmp/launch_params_pm3ur5yd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +396.84sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-18-50-45-783677-c680c71405ab-10201 ×2 +407.04sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' +407.04sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' +407.04sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +407.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +407.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +407.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +407.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +407.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +407.09sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.09sINFOmap_serverCreating +407.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +407.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +407.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +407.10sINFOlifecycle_manager_localizationCreating +407.11sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +407.11sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +407.11sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +407.11sINFOmap_serverConfiguring +407.13sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +407.15sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +407.15sINFOmap_serverActivating +407.15sINFOmap_serverCreating bond (map_server) to lifecycle manager. +407.16sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +407.16sINFOcontroller_managerupdate rate is 600 Hz +407.16sINFOcontroller_managerOverruns handling is : enabled +407.16sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +407.17sWARNcontroller_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. +407.25sINFOlifecycle_manager_localizationServer map_server connected with bond. +407.25sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +407.25sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +407.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +407.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810293 ms (missed cycles : 3). +407.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +407.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +407.36sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.37sINFOros2_control_node-8process started with pid [10257] ×2 +407.37sINFOmove_group-20process started with pid [10359] ×2 +407.37sINFOparameter_manager_node-21process started with pid [10361] ×2 +407.37sINFOwaypoint_manager_node-22process started with pid [10363] ×2 +407.37sINFOmove_joint_resampler_node-23process started with pid [10364] ×2 +407.37sINFOmove_end_effector_resampler_node-24process started with pid [10424] ×2 +407.37sINFOobjective_server_node_main-25process started with pid [10425] ×2 +407.37sINFOcomponent_container_mt-26process started with pid [10426] ×2 +407.37sINFOexecute_objective_bridge-27process started with pid [10427] ×2 +407.37sINFOui_teleop_bridge-28process started with pid [10428] ×2 +407.38sINFOweb_bridge-29process started with pid [10431] ×2 +407.38sINFOtf2_web_republisher_node-30process started with pid [10441] ×2 +407.38sINFOweb_video_server-31process started with pid [10442] ×2 +407.40sINFOcomponent_container_isolated-1process started with pid [10250] ×2 +407.40sINFOstatic_transform_publisher-2process started with pid [10251] ×2 +407.40sINFOstatic_transform_publisher-3process started with pid [10252] ×2 +407.40sINFOstatic_transform_publisher-4process started with pid [10253] ×2 +407.40sINFOodom_qos_relay.py-5process started with pid [10254] ×2 +407.40sINFOscan_to_scan_filter_chain-6process started with pid [10255] ×2 +407.40sINFOscan_to_scan_filter_chain-7process started with pid [10256] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [10339] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [10340] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [10341] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [10343] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [10344] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [10347] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [10349] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [10350] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [10353] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [10355] ×2 +407.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [10357] ×2 +407.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810293 ms (missed cycles : 3).[0m ×2 +407.51sINFOcontroller_serverCreating controller server +407.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +407.53sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +407.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +407.58sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +407.58sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.59sINFOlocal_costmap.local_costmapCreating Costmap +407.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +407.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +407.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +407.63sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.65sINFOsmoother_serverCreating smoother server +407.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +407.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +407.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +407.72sINFOrobot_state_publisherRobot initialized +407.72sINFOcontroller_managerReceived robot description from topic. +407.72sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +407.72sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.74sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +407.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +407.76sINFOplanner_serverCreating +407.78sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.79sINFOglobal_costmap.global_costmapCreating Costmap +407.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +407.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +407.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +407.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +407.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +407.83sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +407.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +407.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +407.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +407.92sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +407.95sINFObt_navigatorCreating +407.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +407.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +407.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +408.00sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +408.01sINFOwaypoint_followerCreating +408.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +408.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +408.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +408.05sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +408.06sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +408.08sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +408.08sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.4052 seconds +408.08sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +408.08sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +408.11sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +408.11sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +408.16sINFOmove_groupLoaded robot model in 0.4052 seconds[0m ×2 +408.17sINFOlifecycle_manager_navigationCreating +408.17sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +408.20sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +408.20sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +408.20sINFOcontroller_serverConfiguring controller interface +408.20sINFOcontroller_servergetting progress checker plugins.. +408.20sINFOcontroller_servergetting goal checker plugins.. +408.20sINFOcontroller_serverController frequency set to 20.0000Hz +408.20sINFOlocal_costmap.local_costmapConfiguring +408.21sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +408.25sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +408.31sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +408.31sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +408.31sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +408.35sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +408.35sINFOcontroller_serverController Server has progress_checker progress checkers available. +408.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +408.36sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +408.37sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +408.40sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +408.42sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +408.42sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +408.43sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +408.43sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +408.43sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +408.43sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +408.44sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +408.44sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +408.45sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +408.45sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +408.46sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +408.46sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +408.46sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +408.47sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +408.47sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +408.47sINFOcontroller_serverOptimizer reset +408.48sINFOcontroller_serverController Server has FollowPath controllers available. +408.51sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +408.51sINFOsmoother_serverConfiguring smoother server +408.53sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +408.54sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +408.55sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +408.55sINFOplanner_serverConfiguring +408.55sINFOglobal_costmap.global_costmapConfiguring +408.55sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +408.56sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +408.56sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +408.56sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +408.56sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +408.58sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +408.58sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +408.59sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +408.64sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +408.64sINFOplanner_serverCleaning up +408.64sINFOglobal_costmap.global_costmapCleaning up +408.65sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +408.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720012 ms (missed cycles : 6). +408.72sINFOwaypoint_manager_nodeLoaded robot model in 0.409261 seconds[0m ×2 +408.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720012 ms (missed cycles : 6).[0m ×2 +409.00sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +409.20sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +409.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +409.53sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +409.53sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +409.67sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +409.67sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +409.68sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +409.68sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +409.68sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +409.68sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +409.68sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +409.68sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +409.68sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +409.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +409.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +410.23sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +410.23sINFOcontroller_managerActivating component 'ur_mujoco_control'. +410.23sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +410.23sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +410.26sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +410.26sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +410.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +410.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +410.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +410.47sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +410.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +410.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +410.49sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +410.56sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller +410.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +410.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +410.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +410.57sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +410.57sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +410.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +410.65sINFOobjective_server_node[2026-06-11 18:51:02.764] [moveit_pro_license] [info] ×2 +410.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612478 ms (missed cycles : 2). +410.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612478 ms (missed cycles : 2).[0m ×2 +410.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +410.72sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +410.91sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +410.91sINFOcontroller_managerLoading controller 'joint_velocity_controller' +410.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10349] ×2 +411.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +411.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +411.08sINFOobjective_server_nodeLoaded robot model in 0.359053 seconds[0m ×2 +411.11sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller +411.11sWARNcontroller_managerOverrun might occur, Total time : 2278.792 us (Expected < 1666.667 us) --> Read time : 182.283 us, Update time : 24.011 us, Write time : 2072.498 us +411.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +411.12sINFOcomponent_container_mtLoaded robot model in 0.369501 seconds[0m ×2 +411.12sWARNros2_control_nodeOverrun might occur, Total time : 2278.792 us (Expected < 1666.667 us) --> Read time : 182.283 us, Update time : 24.011 us, Write time : 2072.498 us[0m ×2 +411.66sINFOros2_control_node[2026-06-11 18:51:03.779] [info] Controller state will be published at 20 Hz. ×2 +411.66sINFOros2_control_node[2026-06-11 18:51:03.781] [info] JointVelocityController 'on_configure' succeeded. ×2 +411.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665257 ms (missed cycles : 3). +411.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665257 ms (missed cycles : 3).[0m ×2 +412.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +412.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10355] ×2 +412.03sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +412.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +412.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +412.04sINFOcontroller_managerLoading controller 'platform_velocity_controller' +412.04sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +412.04sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +412.08sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller +412.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +412.09sINFOplatform_velocity_controllerconfigure successful +412.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +412.09sINFOcontroller_managerSuccessfully switched controllers! ×8 +412.09sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller +412.24sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +412.34sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +412.35sINFOmove_groupMoveGroup debug mode is ON +412.37sWARNcontroller_managerOverrun might occur, Total time : 3736.189 us (Expected < 1666.667 us) --> Read time : 3317.581 us, Update time : 44.291 us, Write time : 374.317 us +412.37sWARNros2_control_nodeOverrun might occur, Total time : 3736.189 us (Expected < 1666.667 us) --> Read time : 3317.581 us, Update time : 44.291 us, Write time : 374.317 us[0m ×2 +412.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10343] ×2 +412.50sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +412.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 +412.51sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +412.51sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +412.52sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +412.52sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +412.53sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +412.53sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +412.53sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz) +412.56sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster +412.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +412.57sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +412.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster +412.69sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+412.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103257 ms (missed cycles : 5). +412.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103257 ms (missed cycles : 5).[0m ×2 +412.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +412.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +412.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10340] ×2 +412.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +412.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +412.92sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster +412.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +412.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +412.92sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +412.92sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +412.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +412.94sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster +413.27sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +413.27sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +413.27sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +413.27sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +413.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10341] ×2 +413.35sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 +413.35sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +413.35sINFOplatform_velocity_controller_nav2configure successful +413.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10347] ×2 +413.76sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +413.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687147 ms (missed cycles : 3). +413.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687147 ms (missed cycles : 3).[0m ×2 +414.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +414.02sINFOcontroller_managerLoading controller 'velocity_force_controller' +414.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +414.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +414.12sWARNcontroller_managerOverrun might occur, Total time : 2076.929 us (Expected < 1666.667 us) --> Read time : 450.208 us, Update time : 116.222 us, Write time : 1510.499 us +414.12sWARNros2_control_nodeOverrun might occur, Total time : 2076.929 us (Expected < 1666.667 us) --> Read time : 450.208 us, Update time : 116.222 us, Write time : 1510.499 us[0m ×2 +414.14sINFOspawner_velocity_force_controllerLoaded velocity_force_controller +414.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +414.51sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +414.51sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 +414.51sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 +414.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). +414.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 +414.85sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +414.85sINFOcontroller_managerLoading controller 'vacuum_gripper' +414.86sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +414.86sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +414.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 +414.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +414.93sINFOspawner_vacuum_gripperLoaded vacuum_gripper +414.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +414.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +414.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +414.94sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us +414.94sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 +414.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper +415.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +415.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +415.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +415.28sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +415.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 +415.35sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller +415.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +415.49sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us +415.50sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 +415.74sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 +415.74sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 +415.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). +415.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 +416.10sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +416.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +416.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 +416.36sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +416.36sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +416.36sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +416.36sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +416.40sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller +416.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +416.51sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us +416.52sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 +416.75sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +416.75sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 +416.76sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 +416.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). +416.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 +417.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 +417.13sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +417.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +417.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +417.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 +417.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 +417.17sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster +417.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +417.18sINFOforce_torque_sensor_broadcasterconfigure successful +417.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +417.19sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster +417.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 +417.71sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us +417.72sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 +417.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). +417.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 +417.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 +417.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +417.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +417.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 +418.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 +418.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 +418.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). +418.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 +419.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 +419.09sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us +419.09sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 +419.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 +419.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 +419.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +419.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +419.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +419.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +419.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +419.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +419.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +419.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +419.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +419.85sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us +419.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +419.85sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 +419.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 +419.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). +419.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 +420.27sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +420.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 +420.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +420.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +420.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +420.43sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us +420.44sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 +421.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). +421.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 51 warnings · 1150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.04sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.04sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.08sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.12sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.12sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.12sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.12sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.13sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.13sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.14sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.46sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.47sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.47sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.54sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.56sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.56sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.59sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.59sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.93sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.93sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.29sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.55sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.55sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.55sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.55sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.55sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.55sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.59sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.71sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.94sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.94sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.95sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.32sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.36sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.37sINFOforce_torque_sensor_broadcasterconfigure successful + 2.37sINFOros2_control_nodeconfigure successful[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.38sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.38sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.90sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.46sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.17sINFOjoint_trajectory_controllerReceived new action goal + 7.17sINFOjoint_trajectory_controllerAccepted new action goal + 7.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 48 warnings · 1150 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.89sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.89sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 2.24sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 6.95sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 6.95sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 6.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-18-50-45-783677-c680c71405ab-10201 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 warnings · 1144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.04sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.04sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.08sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.12sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.12sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.12sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.12sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.13sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.13sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.14sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.46sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.47sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.47sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.54sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.56sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.56sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.59sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.59sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.93sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.93sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.29sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.55sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.55sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.55sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.55sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.55sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.55sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.59sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.71sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.94sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.94sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.95sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.32sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.36sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.37sINFOforce_torque_sensor_broadcasterconfigure successful + 2.37sINFOros2_control_nodeconfigure successful[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.38sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.38sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.90sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.46sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 45 warnings · 1147 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.89sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.89sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 2.24sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 45 warnings · 1147 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.89sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.89sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 2.24sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 45 warnings · 1147 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:51:06.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.621] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 18:51:06.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605990 ms (missed cycles : 3).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10350] ×2 + 0.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 5372.469 us (Expected < 1666.667 us) --> Read time : 176.193 us, Update time : 4809.759 us (Switch time : 4710.408 us (Switch chained mode time : 0.500 us, perform mode change time : 1.660 us, Activation time : 4701.038 us, Deactivation time : 0.580 us)), Write time : 386.517 us[0m ×2 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10344] ×2 + 0.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.89sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 1.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.89sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 2.24sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 2.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 2.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 45 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 + 7.12sWARNcontroller_managerOverrun might occur, Total time : 1684.601 us (Expected < 1666.667 us) --> Read time : 132.532 us, Update time : 1242.534 us, Write time : 309.535 us + 7.12sWARNros2_control_nodeOverrun might occur, Total time : 1684.601 us (Expected < 1666.667 us) --> Read time : 132.532 us, Update time : 1242.534 us, Write time : 309.535 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 42 warnings · 640 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2489.926 us (Expected < 1666.667 us) --> Read time : 240.434 us, Update time : 101.512 us, Write time : 2147.980 us[0m ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.856] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-11 18:51:07.857] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385483 ms (missed cycles : 4).[0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10357] ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.422 us (Expected < 1666.667 us) --> Read time : 4054.305 us, Update time : 190.164 us, Write time : 700.953 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.872] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-11 18:51:08.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905183 ms (missed cycles : 2).[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10353] ×2 + 1.63sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 + 1.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7uol_5o7 --params-file /tmp/launch_params_g241tdj6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uvwzb4vd --params-file /tmp/launch_params_rbz5e6q3 [0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10339] ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1911.825 us (Expected < 1666.667 us) --> Read time : 202.883 us, Update time : 671.543 us, Write time : 1037.399 us[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520385 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203870.08542895 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203870.09576797 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203870.65051985 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203870.66069007 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804900 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203871.20290112 seconds. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4598.184 us (Expected < 1666.667 us) --> Read time : 160.482 us, Update time : 3941.843 us, Write time : 495.859 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203871.35356307 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203871.91837072 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sWARNcontroller_managerOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us + 4.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 5007.112 us (Expected < 1666.667 us) --> Read time : 228.654 us, Update time : 4273.719 us (Switch time : 4189.158 us (Switch chained mode time : 0.460 us, perform mode change time : 5.360 us, Activation time : 4172.557 us, Deactivation time : 0.290 us)), Write time : 504.739 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203871.97853446 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564550 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781203872.51653218 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1835.454 us (Expected < 1666.667 us) --> Read time : 123.112 us, Update time : 1339.755 us, Write time : 372.587 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680013 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1833.044 us (Expected < 1666.667 us) --> Read time : 135.463 us, Update time : 1348.935 us, Write time : 348.646 us[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024507 ms (missed cycles : 2).[0m ×2 | ||||