67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.2s | 3 errors · 399 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795047 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795047 ms (missed cycles : 3).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 1827.255 us (Expected < 1666.667 us) --> Read time : 168.464 us, Update time : 797.870 us, Write time : 860.921 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1827.255 us (Expected < 1666.667 us) --> Read time : 168.464 us, Update time : 797.870 us, Write time : 860.921 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975495 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975495 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun might occur, Total time : 2186.544 us (Expected < 1666.667 us) --> Read time : 143.953 us, Update time : 1701.732 us, Write time : 340.859 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 2186.544 us (Expected < 1666.667 us) --> Read time : 143.953 us, Update time : 1701.732 us, Write time : 340.859 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462854 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462854 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 3086.365 us (Expected < 1666.667 us) --> Read time : 101.712 us, Update time : 2618.844 us, Write time : 365.809 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 3086.365 us (Expected < 1666.667 us) --> Read time : 101.712 us, Update time : 2618.844 us, Write time : 365.809 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070708 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070708 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGot request to cancel goal + 3.44sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.44sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.44sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781192142.28807187 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781192142.84018707 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325597 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325597 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.02sWARNcontroller_managerOverrun might occur, Total time : 4280.135 us (Expected < 1666.667 us) --> Read time : 181.224 us, Update time : 3750.532 us, Write time : 348.379 us + 5.02sWARNros2_control_nodeOverrun might occur, Total time : 4280.135 us (Expected < 1666.667 us) --> Read time : 181.224 us, Update time : 3750.532 us, Write time : 348.379 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063651 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063651 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476283 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476283 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1681.171 us (Expected < 1666.667 us) --> Read time : 169.754 us, Update time : 594.765 us, Write time : 916.652 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1681.171 us (Expected < 1666.667 us) --> Read time : 169.754 us, Update time : 594.765 us, Write time : 916.652 us[0m ×2 + 7.29sWARNcontroller_managerOverrun might occur, Total time : 2146.992 us (Expected < 1666.667 us) --> Read time : 125.313 us, Update time : 1642.080 us, Write time : 379.599 us + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353694 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun might occur, Total time : 2146.992 us (Expected < 1666.667 us) --> Read time : 125.313 us, Update time : 1642.080 us, Write time : 379.599 us[0m ×2 + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353694 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866262 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866262 ms (missed cycles : 3).[0m ×2 + 8.73sWARNcontroller_managerOverrun might occur, Total time : 4441.139 us (Expected < 1666.667 us) --> Read time : 129.923 us, Update time : 126.013 us, Write time : 4185.203 us + 8.73sWARNros2_control_nodeOverrun might occur, Total time : 4441.139 us (Expected < 1666.667 us) --> Read time : 129.923 us, Update time : 126.013 us, Write time : 4185.203 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930142 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930142 ms (missed cycles : 3).[0m ×2 + 9.79sWARNcontroller_managerOverrun might occur, Total time : 2722.867 us (Expected < 1666.667 us) --> Read time : 135.344 us, Update time : 871.221 us, Write time : 1716.302 us + 9.79sWARNros2_control_nodeOverrun might occur, Total time : 2722.867 us (Expected < 1666.667 us) --> Read time : 135.344 us, Update time : 871.221 us, Write time : 1716.302 us[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757439 ms (missed cycles : 5). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757439 ms (missed cycles : 5).[0m ×2 + 10.84sWARNcontroller_managerOverrun might occur, Total time : 1786.284 us (Expected < 1666.667 us) --> Read time : 237.336 us, Update time : 1233.421 us, Write time : 315.527 us + 10.84sWARNros2_control_nodeOverrun might occur, Total time : 1786.284 us (Expected < 1666.667 us) --> Read time : 237.336 us, Update time : 1233.421 us, Write time : 315.527 us[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134368 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134368 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019276 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019276 ms (missed cycles : 2).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415818 ms (missed cycles : 4). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415818 ms (missed cycles : 4).[0m ×2 + 13.76sWARNcontroller_managerOverrun might occur, Total time : 2072.241 us (Expected < 1666.667 us) --> Read time : 176.214 us, Update time : 732.828 us, Write time : 1163.199 us + 13.76sWARNros2_control_nodeOverrun might occur, Total time : 2072.241 us (Expected < 1666.667 us) --> Read time : 176.214 us, Update time : 732.828 us, Write time : 1163.199 us[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264461 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264461 ms (missed cycles : 2).[0m ×2 + 15.34sWARNcontroller_managerOverrun might occur, Total time : 8066.598 us (Expected < 1666.667 us) --> Read time : 128.683 us, Update time : 136.413 us, Write time : 7801.502 us + 15.34sWARNros2_control_nodeOverrun might occur, Total time : 8066.598 us (Expected < 1666.667 us) --> Read time : 128.683 us, Update time : 136.413 us, Write time : 7801.502 us[0m ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430897 ms (missed cycles : 8). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430897 ms (missed cycles : 8).[0m ×2 + 16.42sWARNcontroller_managerOverrun might occur, Total time : 8064.958 us (Expected < 1666.667 us) --> Read time : 170.714 us, Update time : 7496.234 us, Write time : 398.010 us + 16.42sWARNros2_control_nodeOverrun might occur, Total time : 8064.958 us (Expected < 1666.667 us) --> Read time : 170.714 us, Update time : 7496.234 us, Write time : 398.010 us[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231197 ms (missed cycles : 5). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231197 ms (missed cycles : 5).[0m ×2 + 17.56sWARNcontroller_managerOverrun might occur, Total time : 1866.056 us (Expected < 1666.667 us) --> Read time : 140.564 us, Update time : 775.719 us, Write time : 949.773 us + 17.57sWARNros2_control_nodeOverrun might occur, Total time : 1866.056 us (Expected < 1666.667 us) --> Read time : 140.564 us, Update time : 775.719 us, Write time : 949.773 us[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948756 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948756 ms (missed cycles : 2).[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349124 ms (missed cycles : 3). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349124 ms (missed cycles : 3).[0m ×2 + 18.74sWARNcontroller_managerOverrun might occur, Total time : 1702.651 us (Expected < 1666.667 us) --> Read time : 135.063 us, Update time : 1195.689 us, Write time : 371.899 us + 18.74sWARNros2_control_nodeOverrun might occur, Total time : 1702.651 us (Expected < 1666.667 us) --> Read time : 135.063 us, Update time : 1195.689 us, Write time : 371.899 us[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013794 ms (missed cycles : 3). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013794 ms (missed cycles : 3).[0m ×2 + 20.03sWARNcontroller_managerOverrun might occur, Total time : 2802.299 us (Expected < 1666.667 us) --> Read time : 182.084 us, Update time : 2211.925 us, Write time : 408.290 us + 20.03sWARNros2_control_nodeOverrun might occur, Total time : 2802.299 us (Expected < 1666.667 us) --> Read time : 182.084 us, Update time : 2211.925 us, Write time : 408.290 us[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156272 ms (missed cycles : 2). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156272 ms (missed cycles : 2).[0m ×2 + 21.15sWARNcontroller_managerOverrun might occur, Total time : 2252.836 us (Expected < 1666.667 us) --> Read time : 163.344 us, Update time : 1693.322 us, Write time : 396.170 us + 21.16sWARNros2_control_nodeOverrun might occur, Total time : 2252.836 us (Expected < 1666.667 us) --> Read time : 163.344 us, Update time : 1693.322 us, Write time : 396.170 us[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878173 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878173 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun might occur, Total time : 2537.233 us (Expected < 1666.667 us) --> Read time : 216.016 us, Update time : 1831.695 us, Write time : 489.522 us + 22.35sWARNros2_control_nodeOverrun might occur, Total time : 2537.233 us (Expected < 1666.667 us) --> Read time : 216.016 us, Update time : 1831.695 us, Write time : 489.522 us[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131835 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131835 ms (missed cycles : 2).[0m ×2 + 23.45sWARNcontroller_managerOverrun might occur, Total time : 3023.574 us (Expected < 1666.667 us) --> Read time : 144.173 us, Update time : 159.974 us, Write time : 2719.427 us + 23.46sWARNros2_control_nodeOverrun might occur, Total time : 3023.574 us (Expected < 1666.667 us) --> Read time : 144.173 us, Update time : 159.974 us, Write time : 2719.427 us[0m ×2 + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960402 ms (missed cycles : 2). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960402 ms (missed cycles : 2).[0m ×2 + 24.76sWARNcontroller_managerOverrun might occur, Total time : 1758.443 us (Expected < 1666.667 us) --> Read time : 600.765 us, Update time : 792.279 us, Write time : 365.399 us + 24.76sWARNros2_control_nodeOverrun might occur, Total time : 1758.443 us (Expected < 1666.667 us) --> Read time : 600.765 us, Update time : 792.279 us, Write time : 365.399 us[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356726 ms (missed cycles : 6). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356726 ms (missed cycles : 6).[0m ×2 + 25.93sWARNcontroller_managerOverrun might occur, Total time : 3742.621 us (Expected < 1666.667 us) --> Read time : 108.392 us, Update time : 3339.802 us, Write time : 294.427 us + 25.93sWARNros2_control_nodeOverrun might occur, Total time : 3742.621 us (Expected < 1666.667 us) --> Read time : 108.392 us, Update time : 3339.802 us, Write time : 294.427 us[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139074 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139074 ms (missed cycles : 2).[0m ×2 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483335 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483335 ms (missed cycles : 2).[0m ×2 + 27.19sWARNcontroller_managerOverrun might occur, Total time : 2135.412 us (Expected < 1666.667 us) --> Read time : 207.295 us, Update time : 1533.708 us, Write time : 394.409 us + 27.19sWARNros2_control_nodeOverrun might occur, Total time : 2135.412 us (Expected < 1666.667 us) --> Read time : 207.295 us, Update time : 1533.708 us, Write time : 394.409 us[0m ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083878 ms (missed cycles : 2). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083878 ms (missed cycles : 2).[0m ×2 + 28.52sWARNcontroller_managerOverrun might occur, Total time : 5201.408 us (Expected < 1666.667 us) --> Read time : 170.875 us, Update time : 4578.102 us, Write time : 452.431 us + 28.52sWARNros2_control_nodeOverrun might occur, Total time : 5201.408 us (Expected < 1666.667 us) --> Read time : 170.875 us, Update time : 4578.102 us, Write time : 452.431 us[0m ×2 + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765028 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765028 ms (missed cycles : 2).[0m ×2 + 29.86sWARNcontroller_managerOverrun might occur, Total time : 3997.909 us (Expected < 1666.667 us) --> Read time : 116.023 us, Update time : 3407.634 us, Write time : 474.252 us + 29.86sWARNros2_control_nodeOverrun might occur, Total time : 3997.909 us (Expected < 1666.667 us) --> Read time : 116.023 us, Update time : 3407.634 us, Write time : 474.252 us[0m ×2 + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154970 ms (missed cycles : 5). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154970 ms (missed cycles : 5).[0m ×2 + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828972 ms (missed cycles : 3). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828972 ms (missed cycles : 3).[0m ×2 + 31.79sWARNcontroller_managerOverrun might occur, Total time : 2934.372 us (Expected < 1666.667 us) --> Read time : 145.893 us, Update time : 139.634 us, Write time : 2648.845 us + 31.79sWARNros2_control_nodeOverrun might occur, Total time : 2934.372 us (Expected < 1666.667 us) --> Read time : 145.893 us, Update time : 139.634 us, Write time : 2648.845 us[0m ×2 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356188 ms (missed cycles : 4). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356188 ms (missed cycles : 4).[0m ×2 + 32.98sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.98sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.24sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.30sWARNcontroller_managerOverrun might occur, Total time : 5947.916 us (Expected < 1666.667 us) --> Read time : 103.593 us, Update time : 5415.193 us, Write time : 429.130 us + 33.30sWARNros2_control_nodeOverrun might occur, Total time : 5947.916 us (Expected < 1666.667 us) --> Read time : 103.593 us, Update time : 5415.193 us, Write time : 429.130 us[0m ×2 + 33.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589237 ms (missed cycles : 3). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589237 ms (missed cycles : 3).[0m ×2 + 33.93sINFOobjective_server_nodePlanning for 29 path waypoints. ×3 + 34.57sWARNcontroller_managerOverrun might occur, Total time : 1708.192 us (Expected < 1666.667 us) --> Read time : 245.566 us, Update time : 1128.528 us, Write time : 334.098 us + 34.57sWARNros2_control_nodeOverrun might occur, Total time : 1708.192 us (Expected < 1666.667 us) --> Read time : 245.566 us, Update time : 1128.528 us, Write time : 334.098 us[0m ×2 + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092773 ms (missed cycles : 3). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092773 ms (missed cycles : 3).[0m ×2 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534472 ms (missed cycles : 2). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534472 ms (missed cycles : 2).[0m ×2 + 36.74sWARNcontroller_managerOverrun might occur, Total time : 2129.873 us (Expected < 1666.667 us) --> Read time : 140.294 us, Update time : 1668.161 us, Write time : 321.418 us + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696030 ms (missed cycles : 2). + 36.74sWARNros2_control_nodeOverrun might occur, Total time : 2129.873 us (Expected < 1666.667 us) --> Read time : 140.294 us, Update time : 1668.161 us, Write time : 321.418 us[0m ×2 + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696030 ms (missed cycles : 2).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454875 ms (missed cycles : 3). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454875 ms (missed cycles : 3).[0m ×2 + 37.88sWARNcontroller_managerOverrun might occur, Total time : 3337.331 us (Expected < 1666.667 us) --> Read time : 136.903 us, Update time : 2859.980 us, Write time : 340.448 us + 37.89sWARNros2_control_nodeOverrun might occur, Total time : 3337.331 us (Expected < 1666.667 us) --> Read time : 136.903 us, Update time : 2859.980 us, Write time : 340.448 us[0m ×2 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548229 ms (missed cycles : 2). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548229 ms (missed cycles : 2).[0m ×2 + 38.79sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700050 ms (missed cycles : 2). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700050 ms (missed cycles : 2).[0m ×2 + 40.06sWARNcontroller_managerOverrun might occur, Total time : 1824.465 us (Expected < 1666.667 us) --> Read time : 146.074 us, Update time : 1005.105 us, Write time : 673.286 us + 40.06sWARNros2_control_nodeOverrun might occur, Total time : 1824.465 us (Expected < 1666.667 us) --> Read time : 146.074 us, Update time : 1005.105 us, Write time : 673.286 us[0m ×2 + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635407 ms (missed cycles : 4). + 40.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635407 ms (missed cycles : 4).[0m ×2 + 41.19sWARNcontroller_managerOverrun might occur, Total time : 3368.903 us (Expected < 1666.667 us) --> Read time : 144.144 us, Update time : 2848.630 us, Write time : 376.129 us + 41.20sWARNros2_control_nodeOverrun might occur, Total time : 3368.903 us (Expected < 1666.667 us) --> Read time : 144.144 us, Update time : 2848.630 us, Write time : 376.129 us[0m ×2 + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.922031 ms (missed cycles : 5). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.922031 ms (missed cycles : 5).[0m ×2 + 42.29sWARNcontroller_managerOverrun might occur, Total time : 2962.063 us (Expected < 1666.667 us) --> Read time : 2277.776 us, Update time : 177.384 us, Write time : 506.903 us + 42.29sWARNros2_control_nodeOverrun might occur, Total time : 2962.063 us (Expected < 1666.667 us) --> Read time : 2277.776 us, Update time : 177.384 us, Write time : 506.903 us[0m ×2 + 42.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673269 ms (missed cycles : 3). + 42.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673269 ms (missed cycles : 3).[0m ×2 + 43.99sWARNcontroller_managerOverrun might occur, Total time : 2169.664 us (Expected < 1666.667 us) --> Read time : 209.125 us, Update time : 1587.319 us, Write time : 373.220 us + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383282 ms (missed cycles : 2). + 43.99sWARNros2_control_nodeOverrun might occur, Total time : 2169.664 us (Expected < 1666.667 us) --> Read time : 209.125 us, Update time : 1587.319 us, Write time : 373.220 us[0m ×2 + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383282 ms (missed cycles : 2).[0m ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.553694 ms (missed cycles : 7). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.553694 ms (missed cycles : 7).[0m ×2 + 45.59sWARNcontroller_managerOverrun might occur, Total time : 1900.227 us (Expected < 1666.667 us) --> Read time : 140.513 us, Update time : 1302.712 us, Write time : 457.002 us + 45.59sWARNros2_control_nodeOverrun might occur, Total time : 1900.227 us (Expected < 1666.667 us) --> Read time : 140.513 us, Update time : 1302.712 us, Write time : 457.002 us[0m ×2 + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221695 ms (missed cycles : 2). + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221695 ms (missed cycles : 2).[0m ×2 + 46.83sWARNcontroller_managerOverrun might occur, Total time : 1850.416 us (Expected < 1666.667 us) --> Read time : 237.226 us, Update time : 736.878 us, Write time : 876.312 us + 46.83sWARNros2_control_nodeOverrun might occur, Total time : 1850.416 us (Expected < 1666.667 us) --> Read time : 237.226 us, Update time : 736.878 us, Write time : 876.312 us[0m ×2 + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889902 ms (missed cycles : 6). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889902 ms (missed cycles : 6).[0m ×2 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996484 ms (missed cycles : 3). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996484 ms (missed cycles : 3).[0m ×2 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446497 ms (missed cycles : 2). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446497 ms (missed cycles : 2).[0m ×2 + 49.63sWARNcontroller_managerOverrun might occur, Total time : 2637.875 us (Expected < 1666.667 us) --> Read time : 135.374 us, Update time : 2122.792 us, Write time : 379.709 us + 49.63sWARNros2_control_nodeOverrun might occur, Total time : 2637.875 us (Expected < 1666.667 us) --> Read time : 135.374 us, Update time : 2122.792 us, Write time : 379.709 us[0m ×2 + 49.75sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619408 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619408 ms (missed cycles : 3).[0m ×2 + 50.81sWARNcontroller_managerOverrun might occur, Total time : 2715.616 us (Expected < 1666.667 us) --> Read time : 150.793 us, Update time : 273.377 us, Write time : 2291.446 us + 50.81sWARNros2_control_nodeOverrun might occur, Total time : 2715.616 us (Expected < 1666.667 us) --> Read time : 150.793 us, Update time : 273.377 us, Write time : 2291.446 us[0m ×2 + 51.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.539697 ms (missed cycles : 6). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.539697 ms (missed cycles : 6).[0m ×2 + 51.94sWARNcontroller_managerOverrun might occur, Total time : 1703.472 us (Expected < 1666.667 us) --> Read time : 686.527 us, Update time : 174.135 us, Write time : 842.810 us + 51.95sWARNros2_control_nodeOverrun might occur, Total time : 1703.472 us (Expected < 1666.667 us) --> Read time : 686.527 us, Update time : 174.135 us, Write time : 842.810 us[0m ×2 + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668705 ms (missed cycles : 2). + 52.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668705 ms (missed cycles : 2).[0m ×2 + 53.06sWARNcontroller_managerOverrun might occur, Total time : 2514.572 us (Expected < 1666.667 us) --> Read time : 1755.354 us, Update time : 197.534 us, Write time : 561.684 us + 53.06sWARNros2_control_nodeOverrun might occur, Total time : 2514.572 us (Expected < 1666.667 us) --> Read time : 1755.354 us, Update time : 197.534 us, Write time : 561.684 us[0m ×2 + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240488 ms (missed cycles : 3). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240488 ms (missed cycles : 3).[0m ×2 + 54.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697725 ms (missed cycles : 2). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697725 ms (missed cycles : 2).[0m ×2 + 54.91sWARNcontroller_managerOverrun might occur, Total time : 4407.758 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3832.484 us, Write time : 427.000 us + 54.91sWARNros2_control_nodeOverrun might occur, Total time : 4407.758 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3832.484 us, Write time : 427.000 us[0m ×2 + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409969 ms (missed cycles : 5). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409969 ms (missed cycles : 5).[0m ×2 + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243479 ms (missed cycles : 2). + 56.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243479 ms (missed cycles : 2).[0m ×2 + 56.45sWARNcontroller_managerOverrun might occur, Total time : 3111.636 us (Expected < 1666.667 us) --> Read time : 2582.913 us, Update time : 119.903 us, Write time : 408.820 us + 56.46sWARNros2_control_nodeOverrun might occur, Total time : 3111.636 us (Expected < 1666.667 us) --> Read time : 2582.913 us, Update time : 119.903 us, Write time : 408.820 us[0m ×2 + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308095 ms (missed cycles : 4). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308095 ms (missed cycles : 4).[0m ×2 + 57.57sWARNcontroller_managerOverrun might occur, Total time : 7913.785 us (Expected < 1666.667 us) --> Read time : 115.653 us, Update time : 182.895 us, Write time : 7615.237 us + 57.57sWARNros2_control_nodeOverrun might occur, Total time : 7913.785 us (Expected < 1666.667 us) --> Read time : 115.653 us, Update time : 182.895 us, Write time : 7615.237 us[0m ×2 + 58.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666476 ms (missed cycles : 3). + 58.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666476 ms (missed cycles : 3).[0m ×2 + 59.00sWARNcontroller_managerOverrun might occur, Total time : 2630.165 us (Expected < 1666.667 us) --> Read time : 130.304 us, Update time : 2159.013 us, Write time : 340.848 us + 59.00sWARNros2_control_nodeOverrun might occur, Total time : 2630.165 us (Expected < 1666.667 us) --> Read time : 130.304 us, Update time : 2159.013 us, Write time : 340.848 us[0m ×2 + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.320184 ms (missed cycles : 5). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.320184 ms (missed cycles : 5).[0m ×2 + 60.20sWARNcontroller_managerOverrun might occur, Total time : 1719.812 us (Expected < 1666.667 us) --> Read time : 156.184 us, Update time : 1249.140 us, Write time : 314.488 us + 60.20sWARNros2_control_nodeOverrun might occur, Total time : 1719.812 us (Expected < 1666.667 us) --> Read time : 156.184 us, Update time : 1249.140 us, Write time : 314.488 us[0m ×2 + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416222 ms (missed cycles : 4). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416222 ms (missed cycles : 4).[0m ×2 + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910432 ms (missed cycles : 3). + 61.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910432 ms (missed cycles : 3).[0m ×2 + 61.61sWARNcontroller_managerOverrun might occur, Total time : 4108.091 us (Expected < 1666.667 us) --> Read time : 163.884 us, Update time : 3560.538 us, Write time : 383.669 us + 61.61sWARNros2_control_nodeOverrun might occur, Total time : 4108.091 us (Expected < 1666.667 us) --> Read time : 163.884 us, Update time : 3560.538 us, Write time : 383.669 us[0m ×2 + 62.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788015 ms (missed cycles : 3). + 62.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788015 ms (missed cycles : 3).[0m ×2 + 62.51sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 63.09sWARNcontroller_managerOverrun might occur, Total time : 1703.472 us (Expected < 1666.667 us) --> Read time : 194.035 us, Update time : 111.803 us, Write time : 1397.634 us + 63.09sWARNros2_control_nodeOverrun might occur, Total time : 1703.472 us (Expected < 1666.667 us) --> Read time : 194.035 us, Update time : 111.803 us, Write time : 1397.634 us[0m ×2 + 63.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832520 ms (missed cycles : 3). + 63.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832520 ms (missed cycles : 3).[0m ×2 + 64.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175579 ms (missed cycles : 5). + 64.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175579 ms (missed cycles : 5).[0m ×2 + 65.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554811 ms (missed cycles : 3). + 65.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554811 ms (missed cycles : 3).[0m ×2 + 65.72sWARNcontroller_managerOverrun might occur, Total time : 3371.793 us (Expected < 1666.667 us) --> Read time : 133.834 us, Update time : 2860.730 us, Write time : 377.229 us + 65.72sWARNros2_control_nodeOverrun might occur, Total time : 3371.793 us (Expected < 1666.667 us) --> Read time : 133.834 us, Update time : 2860.730 us, Write time : 377.229 us[0m ×2 + 66.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225053 ms (missed cycles : 2). + 66.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225053 ms (missed cycles : 2).[0m ×2 + 66.79sWARNcontroller_managerOverrun might occur, Total time : 2473.400 us (Expected < 1666.667 us) --> Read time : 131.733 us, Update time : 1998.709 us, Write time : 342.958 us + 66.79sWARNros2_control_nodeOverrun might occur, Total time : 2473.400 us (Expected < 1666.667 us) --> Read time : 131.733 us, Update time : 1998.709 us, Write time : 342.958 us[0m ×2 + 67.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385513 ms (missed cycles : 2). + 67.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385513 ms (missed cycles : 2).[0m ×2 + 67.86sWARNcontroller_managerOverrun might occur, Total time : 3968.258 us (Expected < 1666.667 us) --> Read time : 133.073 us, Update time : 3363.763 us, Write time : 471.422 us + 67.86sWARNros2_control_nodeOverrun might occur, Total time : 3968.258 us (Expected < 1666.667 us) --> Read time : 133.073 us, Update time : 3363.763 us, Write time : 471.422 us[0m ×2 + 68.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733455 ms (missed cycles : 2). + 68.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733455 ms (missed cycles : 2).[0m ×2 + 69.12sWARNcontroller_managerOverrun might occur, Total time : 2186.454 us (Expected < 1666.667 us) --> Read time : 202.795 us, Update time : 228.366 us, Write time : 1755.293 us + 69.12sWARNros2_control_nodeOverrun might occur, Total time : 2186.454 us (Expected < 1666.667 us) --> Read time : 202.795 us, Update time : 228.366 us, Write time : 1755.293 us[0m ×2 + 69.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867194 ms (missed cycles : 2). + 69.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867194 ms (missed cycles : 2).[0m ×2 + 70.27sWARNcontroller_managerOverrun might occur, Total time : 2322.907 us (Expected < 1666.667 us) --> Read time : 158.334 us, Update time : 1742.353 us, Write time : 422.220 us + 70.27sWARNros2_control_nodeOverrun might occur, Total time : 2322.907 us (Expected < 1666.667 us) --> Read time : 158.334 us, Update time : 1742.353 us, Write time : 422.220 us[0m ×2 + 70.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571525 ms (missed cycles : 2). + 70.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571525 ms (missed cycles : 2).[0m ×2 + 71.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 71.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 72.00sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 72.00sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 72.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 72.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 73.12sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 73.12sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 73.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 73.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 74.19sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 74.19sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 74.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 74.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 75.19sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 75.19sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 75.62sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 75.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 75.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 76.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 76.21sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 76.21sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 76.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 77.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 77.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 77.32sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 77.32sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 78.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 78.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 78.33sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 78.33sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 318 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.32sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.32665896 seconds ×3 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191980.87205315 seconds. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2).[0m ×2 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us + 1.73sWARNros2_control_nodeOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (2.6401e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.89sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.89sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.89sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.89sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668939 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668939 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781191983.95220685 seconds ×3 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 2735.978 us (Expected < 1666.667 us) --> Read time : 194.775 us, Update time : 2181.204 us, Write time : 359.999 us + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143540 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 2735.978 us (Expected < 1666.667 us) --> Read time : 194.775 us, Update time : 2181.204 us, Write time : 359.999 us[0m ×2 + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143540 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781191984.49435472 seconds. ×3 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386055 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386055 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 2198.794 us (Expected < 1666.667 us) --> Read time : 255.686 us, Update time : 224.816 us, Write time : 1718.292 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 2198.794 us (Expected < 1666.667 us) --> Read time : 255.686 us, Update time : 224.816 us, Write time : 1718.292 us[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964058 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964058 ms (missed cycles : 2).[0m ×2 + 6.97sWARNcontroller_managerOverrun might occur, Total time : 1834.425 us (Expected < 1666.667 us) --> Read time : 118.082 us, Update time : 1420.585 us, Write time : 295.758 us + 6.97sWARNros2_control_nodeOverrun might occur, Total time : 1834.425 us (Expected < 1666.667 us) --> Read time : 118.082 us, Update time : 1420.585 us, Write time : 295.758 us[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411386 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411386 ms (missed cycles : 3).[0m ×2 + 8.26sWARNcontroller_managerOverrun might occur, Total time : 1740.531 us (Expected < 1666.667 us) --> Read time : 153.523 us, Update time : 764.598 us, Write time : 822.410 us + 8.26sWARNros2_control_nodeOverrun might occur, Total time : 1740.531 us (Expected < 1666.667 us) --> Read time : 153.523 us, Update time : 764.598 us, Write time : 822.410 us[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270726 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270726 ms (missed cycles : 4).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628307 ms (missed cycles : 6). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628307 ms (missed cycles : 6).[0m ×2 + 10.08sWARNcontroller_managerOverrun might occur, Total time : 4839.599 us (Expected < 1666.667 us) --> Read time : 517.503 us, Update time : 868.001 us, Write time : 3454.095 us + 10.08sWARNros2_control_nodeOverrun might occur, Total time : 4839.599 us (Expected < 1666.667 us) --> Read time : 517.503 us, Update time : 868.001 us, Write time : 3454.095 us[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829074 ms (missed cycles : 6). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829074 ms (missed cycles : 6).[0m ×2 + 11.14sWARNcontroller_managerOverrun might occur, Total time : 4296.475 us (Expected < 1666.667 us) --> Read time : 241.546 us, Update time : 3705.910 us, Write time : 349.019 us + 11.14sWARNros2_control_nodeOverrun might occur, Total time : 4296.475 us (Expected < 1666.667 us) --> Read time : 241.546 us, Update time : 3705.910 us, Write time : 349.019 us[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424091 ms (missed cycles : 4). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424091 ms (missed cycles : 4).[0m ×2 + 12.19sWARNcontroller_managerOverrun might occur, Total time : 1790.804 us (Expected < 1666.667 us) --> Read time : 1175.699 us, Update time : 131.463 us, Write time : 483.642 us + 12.19sWARNros2_control_nodeOverrun might occur, Total time : 1790.804 us (Expected < 1666.667 us) --> Read time : 1175.699 us, Update time : 131.463 us, Write time : 483.642 us[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214665 ms (missed cycles : 5). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214665 ms (missed cycles : 5).[0m ×2 + 13.41sWARNcontroller_managerOverrun might occur, Total time : 1978.748 us (Expected < 1666.667 us) --> Read time : 157.814 us, Update time : 741.658 us, Write time : 1079.276 us + 13.41sWARNros2_control_nodeOverrun might occur, Total time : 1978.748 us (Expected < 1666.667 us) --> Read time : 157.814 us, Update time : 741.658 us, Write time : 1079.276 us[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718704 ms (missed cycles : 7). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718704 ms (missed cycles : 7).[0m ×2 + 14.43sWARNcontroller_managerOverrun might occur, Total time : 5749.320 us (Expected < 1666.667 us) --> Read time : 192.364 us, Update time : 5153.966 us, Write time : 402.990 us + 14.43sWARNros2_control_nodeOverrun might occur, Total time : 5749.320 us (Expected < 1666.667 us) --> Read time : 192.364 us, Update time : 5153.966 us, Write time : 402.990 us[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572400 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572400 ms (missed cycles : 3).[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924437 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924437 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun might occur, Total time : 1871.436 us (Expected < 1666.667 us) --> Read time : 185.664 us, Update time : 1252.941 us, Write time : 432.831 us + 16.06sWARNros2_control_nodeOverrun might occur, Total time : 1871.436 us (Expected < 1666.667 us) --> Read time : 185.664 us, Update time : 1252.941 us, Write time : 432.831 us[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676679 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676679 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun might occur, Total time : 5078.945 us (Expected < 1666.667 us) --> Read time : 131.213 us, Update time : 4603.863 us, Write time : 343.869 us + 17.16sWARNros2_control_nodeOverrun might occur, Total time : 5078.945 us (Expected < 1666.667 us) --> Read time : 131.213 us, Update time : 4603.863 us, Write time : 343.869 us[0m ×2 + 17.66sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993486 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993486 ms (missed cycles : 2).[0m ×2 + 18.36sWARNcontroller_managerOverrun might occur, Total time : 1692.422 us (Expected < 1666.667 us) --> Read time : 145.874 us, Update time : 632.175 us, Write time : 914.373 us + 18.36sWARNros2_control_nodeOverrun might occur, Total time : 1692.422 us (Expected < 1666.667 us) --> Read time : 145.874 us, Update time : 632.175 us, Write time : 914.373 us[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.473743 ms (missed cycles : 7). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.473743 ms (missed cycles : 7).[0m ×2 + 19.53sWARNcontroller_managerOverrun might occur, Total time : 4934.510 us (Expected < 1666.667 us) --> Read time : 147.714 us, Update time : 4393.877 us, Write time : 392.919 us + 19.53sWARNros2_control_nodeOverrun might occur, Total time : 4934.510 us (Expected < 1666.667 us) --> Read time : 147.714 us, Update time : 4393.877 us, Write time : 392.919 us[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.742941 ms (missed cycles : 6). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.742941 ms (missed cycles : 6).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984552 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984552 ms (missed cycles : 2).[0m ×2 + 21.76sWARNcontroller_managerOverrun might occur, Total time : 1909.717 us (Expected < 1666.667 us) --> Read time : 205.015 us, Update time : 601.525 us, Write time : 1103.177 us + 21.76sWARNros2_control_nodeOverrun might occur, Total time : 1909.717 us (Expected < 1666.667 us) --> Read time : 205.015 us, Update time : 601.525 us, Write time : 1103.177 us[0m ×2 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.596812 ms (missed cycles : 6). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.596812 ms (missed cycles : 6).[0m ×2 + 22.89sWARNcontroller_managerOverrun might occur, Total time : 2784.528 us (Expected < 1666.667 us) --> Read time : 545.693 us, Update time : 1269.281 us, Write time : 969.554 us + 22.89sWARNros2_control_nodeOverrun might occur, Total time : 2784.528 us (Expected < 1666.667 us) --> Read time : 545.693 us, Update time : 1269.281 us, Write time : 969.554 us[0m ×2 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689980 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689980 ms (missed cycles : 2).[0m ×2 + 24.22sWARNcontroller_managerOverrun might occur, Total time : 1698.882 us (Expected < 1666.667 us) --> Read time : 143.904 us, Update time : 983.154 us, Write time : 571.824 us + 24.22sWARNros2_control_nodeOverrun might occur, Total time : 1698.882 us (Expected < 1666.667 us) --> Read time : 143.904 us, Update time : 983.154 us, Write time : 571.824 us[0m ×2 + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877795 ms (missed cycles : 3). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877795 ms (missed cycles : 3).[0m ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138676 ms (missed cycles : 3). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138676 ms (missed cycles : 3).[0m ×2 + 25.47sWARNcontroller_managerOverrun might occur, Total time : 2143.002 us (Expected < 1666.667 us) --> Read time : 1636.430 us, Update time : 145.753 us, Write time : 360.819 us + 25.48sWARNros2_control_nodeOverrun might occur, Total time : 2143.002 us (Expected < 1666.667 us) --> Read time : 1636.430 us, Update time : 145.753 us, Write time : 360.819 us[0m ×2 + 26.50sWARNcontroller_managerOverrun might occur, Total time : 2824.679 us (Expected < 1666.667 us) --> Read time : 214.935 us, Update time : 141.523 us, Write time : 2468.221 us + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552534 ms (missed cycles : 3). + 26.50sWARNros2_control_nodeOverrun might occur, Total time : 2824.679 us (Expected < 1666.667 us) --> Read time : 214.935 us, Update time : 141.523 us, Write time : 2468.221 us[0m ×2 + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552534 ms (missed cycles : 3).[0m ×2 + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406875 ms (missed cycles : 3). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406875 ms (missed cycles : 3).[0m ×2 + 28.05sWARNcontroller_managerOverrun might occur, Total time : 4682.104 us (Expected < 1666.667 us) --> Read time : 116.343 us, Update time : 102.202 us, Write time : 4463.559 us + 28.05sWARNros2_control_nodeOverrun might occur, Total time : 4682.104 us (Expected < 1666.667 us) --> Read time : 116.343 us, Update time : 102.202 us, Write time : 4463.559 us[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001930 ms (missed cycles : 5). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001930 ms (missed cycles : 5).[0m ×2 + 29.29sWARNcontroller_managerOverrun might occur, Total time : 3010.274 us (Expected < 1666.667 us) --> Read time : 145.013 us, Update time : 2516.702 us, Write time : 348.559 us + 29.29sWARNros2_control_nodeOverrun might occur, Total time : 3010.274 us (Expected < 1666.667 us) --> Read time : 145.013 us, Update time : 2516.702 us, Write time : 348.559 us[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193111 ms (missed cycles : 3). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193111 ms (missed cycles : 3).[0m ×2 + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915129 ms (missed cycles : 5). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915129 ms (missed cycles : 5).[0m ×2 + 30.79sWARNcontroller_managerOverrun might occur, Total time : 3536.657 us (Expected < 1666.667 us) --> Read time : 131.923 us, Update time : 3067.326 us, Write time : 337.408 us + 30.79sWARNros2_control_nodeOverrun might occur, Total time : 3536.657 us (Expected < 1666.667 us) --> Read time : 131.923 us, Update time : 3067.326 us, Write time : 337.408 us[0m ×2 + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613352 ms (missed cycles : 4). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613352 ms (missed cycles : 4).[0m ×2 + 31.82sWARNcontroller_managerOverrun might occur, Total time : 2190.964 us (Expected < 1666.667 us) --> Read time : 132.603 us, Update time : 1577.149 us, Write time : 481.212 us + 31.82sWARNros2_control_nodeOverrun might occur, Total time : 2190.964 us (Expected < 1666.667 us) --> Read time : 132.603 us, Update time : 1577.149 us, Write time : 481.212 us[0m ×2 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754972 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754972 ms (missed cycles : 2).[0m ×2 + 32.84sWARNcontroller_managerOverrun might occur, Total time : 2617.935 us (Expected < 1666.667 us) --> Read time : 148.084 us, Update time : 2053.750 us, Write time : 416.101 us + 32.84sWARNros2_control_nodeOverrun might occur, Total time : 2617.935 us (Expected < 1666.667 us) --> Read time : 148.084 us, Update time : 2053.750 us, Write time : 416.101 us[0m ×2 + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809185 ms (missed cycles : 2). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809185 ms (missed cycles : 2).[0m ×2 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545721 ms (missed cycles : 2). + 34.75sWARNcontroller_managerOverrun might occur, Total time : 1844.174 us (Expected < 1666.667 us) --> Read time : 159.104 us, Update time : 808.429 us, Write time : 876.641 us + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545721 ms (missed cycles : 2).[0m ×2 + 34.76sWARNros2_control_nodeOverrun might occur, Total time : 1844.174 us (Expected < 1666.667 us) --> Read time : 159.104 us, Update time : 808.429 us, Write time : 876.641 us[0m ×2 + 35.21sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800816 ms (missed cycles : 2). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800816 ms (missed cycles : 2).[0m ×2 + 36.44sWARNcontroller_managerOverrun might occur, Total time : 2360.397 us (Expected < 1666.667 us) --> Read time : 397.549 us, Update time : 957.744 us, Write time : 1005.104 us + 36.44sWARNros2_control_nodeOverrun might occur, Total time : 2360.397 us (Expected < 1666.667 us) --> Read time : 397.549 us, Update time : 957.744 us, Write time : 1005.104 us[0m ×2 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433688 ms (missed cycles : 3). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433688 ms (missed cycles : 3).[0m ×2 + 37.83sWARNcontroller_managerOverrun might occur, Total time : 9015.300 us (Expected < 1666.667 us) --> Read time : 140.633 us, Update time : 8459.097 us, Write time : 415.570 us + 37.83sWARNros2_control_nodeOverrun might occur, Total time : 9015.300 us (Expected < 1666.667 us) --> Read time : 140.633 us, Update time : 8459.097 us, Write time : 415.570 us[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518090 ms (missed cycles : 4). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518090 ms (missed cycles : 4).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333846 ms (missed cycles : 2). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333846 ms (missed cycles : 2).[0m ×2 + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754677 ms (missed cycles : 2). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754677 ms (missed cycles : 2).[0m ×2 + 40.14sWARNcontroller_managerOverrun might occur, Total time : 2195.754 us (Expected < 1666.667 us) --> Read time : 202.725 us, Update time : 1641.140 us, Write time : 351.889 us + 40.14sWARNros2_control_nodeOverrun might occur, Total time : 2195.754 us (Expected < 1666.667 us) --> Read time : 202.725 us, Update time : 1641.140 us, Write time : 351.889 us[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984245 ms (missed cycles : 3). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984245 ms (missed cycles : 3).[0m ×2 + 41.30sWARNcontroller_managerOverrun might occur, Total time : 1873.656 us (Expected < 1666.667 us) --> Read time : 659.536 us, Update time : 171.834 us, Write time : 1042.286 us + 41.30sWARNros2_control_nodeOverrun might occur, Total time : 1873.656 us (Expected < 1666.667 us) --> Read time : 659.536 us, Update time : 171.834 us, Write time : 1042.286 us[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130594 ms (missed cycles : 2). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130594 ms (missed cycles : 2).[0m ×2 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806853 ms (missed cycles : 3). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806853 ms (missed cycles : 3).[0m ×2 + 43.14sWARNcontroller_managerOverrun might occur, Total time : 6567.990 us (Expected < 1666.667 us) --> Read time : 144.513 us, Update time : 220.425 us, Write time : 6203.052 us + 43.14sWARNros2_control_nodeOverrun might occur, Total time : 6567.990 us (Expected < 1666.667 us) --> Read time : 144.513 us, Update time : 220.425 us, Write time : 6203.052 us[0m ×2 + 44.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210893 ms (missed cycles : 5). + 44.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210893 ms (missed cycles : 5).[0m ×2 + 44.77sWARNcontroller_managerOverrun might occur, Total time : 2150.092 us (Expected < 1666.667 us) --> Read time : 187.484 us, Update time : 1508.867 us, Write time : 453.741 us + 44.77sWARNros2_control_nodeOverrun might occur, Total time : 2150.092 us (Expected < 1666.667 us) --> Read time : 187.484 us, Update time : 1508.867 us, Write time : 453.741 us[0m ×2 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007483 ms (missed cycles : 2). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007483 ms (missed cycles : 2).[0m ×2 + 45.95sWARNcontroller_managerOverrun might occur, Total time : 1669.691 us (Expected < 1666.667 us) --> Read time : 148.634 us, Update time : 1196.119 us, Write time : 324.938 us + 45.95sWARNros2_control_nodeOverrun might occur, Total time : 1669.691 us (Expected < 1666.667 us) --> Read time : 148.634 us, Update time : 1196.119 us, Write time : 324.938 us[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557375 ms (missed cycles : 4). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557375 ms (missed cycles : 4).[0m ×2 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953181 ms (missed cycles : 6). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953181 ms (missed cycles : 6).[0m ×2 + 47.86sWARNcontroller_managerOverrun might occur, Total time : 7715.427 us (Expected < 1666.667 us) --> Read time : 137.313 us, Update time : 7021.491 us, Write time : 556.623 us + 47.86sWARNros2_control_nodeOverrun might occur, Total time : 7715.427 us (Expected < 1666.667 us) --> Read time : 137.313 us, Update time : 7021.491 us, Write time : 556.623 us[0m ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699535 ms (missed cycles : 3). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699535 ms (missed cycles : 3).[0m ×2 + 49.24sWARNcontroller_managerOverrun might occur, Total time : 2584.333 us (Expected < 1666.667 us) --> Read time : 205.425 us, Update time : 2062.640 us, Write time : 316.268 us + 49.24sWARNros2_control_nodeOverrun might occur, Total time : 2584.333 us (Expected < 1666.667 us) --> Read time : 205.425 us, Update time : 2062.640 us, Write time : 316.268 us[0m ×2 + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612097 ms (missed cycles : 4). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612097 ms (missed cycles : 4).[0m ×2 + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603750 ms (missed cycles : 3). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603750 ms (missed cycles : 3).[0m ×2 + 50.70sWARNcontroller_managerOverrun might occur, Total time : 3347.042 us (Expected < 1666.667 us) --> Read time : 116.523 us, Update time : 2917.421 us, Write time : 313.098 us + 50.70sWARNros2_control_nodeOverrun might occur, Total time : 3347.042 us (Expected < 1666.667 us) --> Read time : 116.523 us, Update time : 2917.421 us, Write time : 313.098 us[0m ×2 + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197153 ms (missed cycles : 5). + 51.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197153 ms (missed cycles : 5).[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125936 ms (missed cycles : 2). + 52.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125936 ms (missed cycles : 2).[0m ×2 + 52.48sWARNcontroller_managerOverrun might occur, Total time : 2656.755 us (Expected < 1666.667 us) --> Read time : 208.745 us, Update time : 2057.820 us, Write time : 390.190 us + 52.48sWARNros2_control_nodeOverrun might occur, Total time : 2656.755 us (Expected < 1666.667 us) --> Read time : 208.745 us, Update time : 2057.820 us, Write time : 390.190 us[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617092 ms (missed cycles : 2). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617092 ms (missed cycles : 2).[0m ×2 + 53.94sWARNcontroller_managerOverrun might occur, Total time : 4102.400 us (Expected < 1666.667 us) --> Read time : 191.605 us, Update time : 3554.126 us, Write time : 356.669 us + 53.94sWARNros2_control_nodeOverrun might occur, Total time : 4102.400 us (Expected < 1666.667 us) --> Read time : 191.605 us, Update time : 3554.126 us, Write time : 356.669 us[0m ×2 + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164294 ms (missed cycles : 4). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164294 ms (missed cycles : 4).[0m ×2 + 55.34sWARNcontroller_managerOverrun might occur, Total time : 1959.428 us (Expected < 1666.667 us) --> Read time : 124.623 us, Update time : 1561.269 us, Write time : 273.536 us + 55.34sWARNros2_control_nodeOverrun might occur, Total time : 1959.428 us (Expected < 1666.667 us) --> Read time : 124.623 us, Update time : 1561.269 us, Write time : 273.536 us[0m ×2 + 55.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482328 ms (missed cycles : 2). + 55.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482328 ms (missed cycles : 2).[0m ×2 + 56.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721424 ms (missed cycles : 2). + 56.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721424 ms (missed cycles : 2).[0m ×2 + 57.06sWARNcontroller_managerOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us + 57.06sWARNros2_control_nodeOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us[0m ×2 + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3). + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3).[0m ×2 + 58.15sWARNcontroller_managerOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us + 58.15sWARNros2_control_nodeOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us[0m ×2 + 58.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2). + 58.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2).[0m ×2 + 59.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4). + 59.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4).[0m ×2 + 60.12sWARNcontroller_managerOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us + 60.12sWARNros2_control_nodeOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us[0m ×2 + 60.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5). + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5).[0m ×2 + 60.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192040.92450833 seconds ×3 + 61.46sWARNcontroller_managerOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us + 61.46sWARNros2_control_nodeOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us[0m ×2 + 61.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.48417997 seconds. ×3 + 61.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6). + 61.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6).[0m ×2 + 61.97sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 61.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 62.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 63.42sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 63.42sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.8s | 315 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.18sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310412 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310412 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun might occur, Total time : 2125.082 us (Expected < 1666.667 us) --> Read time : 178.684 us, Update time : 131.503 us, Write time : 1814.895 us + 8.20sWARNros2_control_nodeOverrun might occur, Total time : 2125.082 us (Expected < 1666.667 us) --> Read time : 178.684 us, Update time : 131.503 us, Write time : 1814.895 us[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227193 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227193 ms (missed cycles : 2).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029599 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029599 ms (missed cycles : 2).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994503 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994503 ms (missed cycles : 3).[0m ×2 + 11.28sWARNcontroller_managerOverrun might occur, Total time : 1701.702 us (Expected < 1666.667 us) --> Read time : 197.335 us, Update time : 197.154 us, Write time : 1307.213 us + 11.28sWARNros2_control_nodeOverrun might occur, Total time : 1701.702 us (Expected < 1666.667 us) --> Read time : 197.335 us, Update time : 197.154 us, Write time : 1307.213 us[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758039 ms (missed cycles : 5). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758039 ms (missed cycles : 5).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321714 ms (missed cycles : 2). + 12.54sWARNcontroller_managerOverrun might occur, Total time : 1728.092 us (Expected < 1666.667 us) --> Read time : 179.614 us, Update time : 484.832 us, Write time : 1063.646 us + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321714 ms (missed cycles : 2).[0m ×2 + 12.54sWARNros2_control_nodeOverrun might occur, Total time : 1728.092 us (Expected < 1666.667 us) --> Read time : 179.614 us, Update time : 484.832 us, Write time : 1063.646 us[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164370 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164370 ms (missed cycles : 3).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513528 ms (missed cycles : 4). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513528 ms (missed cycles : 4).[0m ×2 + 15.17sWARNcontroller_managerOverrun might occur, Total time : 2235.725 us (Expected < 1666.667 us) --> Read time : 1580.679 us, Update time : 171.224 us, Write time : 483.822 us + 15.17sWARNros2_control_nodeOverrun might occur, Total time : 2235.725 us (Expected < 1666.667 us) --> Read time : 1580.679 us, Update time : 171.224 us, Write time : 483.822 us[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614223 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614223 ms (missed cycles : 2).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357794 ms (missed cycles : 5). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357794 ms (missed cycles : 5).[0m ×2 + 17.14sWARNcontroller_managerOverrun might occur, Total time : 2325.828 us (Expected < 1666.667 us) --> Read time : 171.835 us, Update time : 508.862 us, Write time : 1645.131 us + 17.14sWARNros2_control_nodeOverrun might occur, Total time : 2325.828 us (Expected < 1666.667 us) --> Read time : 171.835 us, Update time : 508.862 us, Write time : 1645.131 us[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.142580 ms (missed cycles : 7). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.142580 ms (missed cycles : 7).[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025206 ms (missed cycles : 4). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025206 ms (missed cycles : 4).[0m ×2 + 19.36sWARNcontroller_managerOverrun might occur, Total time : 2510.971 us (Expected < 1666.667 us) --> Read time : 175.244 us, Update time : 1796.484 us, Write time : 539.243 us + 19.36sWARNros2_control_nodeOverrun might occur, Total time : 2510.971 us (Expected < 1666.667 us) --> Read time : 175.244 us, Update time : 1796.484 us, Write time : 539.243 us[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549752 ms (missed cycles : 4). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549752 ms (missed cycles : 4).[0m ×2 + 20.38sWARNcontroller_managerOverrun might occur, Total time : 2242.045 us (Expected < 1666.667 us) --> Read time : 171.574 us, Update time : 1717.213 us, Write time : 353.258 us + 20.39sWARNros2_control_nodeOverrun might occur, Total time : 2242.045 us (Expected < 1666.667 us) --> Read time : 171.574 us, Update time : 1717.213 us, Write time : 353.258 us[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745343 ms (missed cycles : 2). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745343 ms (missed cycles : 2).[0m ×2 + 21.50sWARNcontroller_managerOverrun might occur, Total time : 1766.324 us (Expected < 1666.667 us) --> Read time : 149.034 us, Update time : 128.373 us, Write time : 1488.917 us + 21.50sWARNros2_control_nodeOverrun might occur, Total time : 1766.324 us (Expected < 1666.667 us) --> Read time : 149.034 us, Update time : 128.373 us, Write time : 1488.917 us[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783179 ms (missed cycles : 2). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783179 ms (missed cycles : 2).[0m ×2 + 22.53sWARNcontroller_managerOverrun might occur, Total time : 3711.161 us (Expected < 1666.667 us) --> Read time : 177.834 us, Update time : 3161.968 us, Write time : 371.359 us + 22.53sWARNros2_control_nodeOverrun might occur, Total time : 3711.161 us (Expected < 1666.667 us) --> Read time : 177.834 us, Update time : 3161.968 us, Write time : 371.359 us[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219853 ms (missed cycles : 4). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219853 ms (missed cycles : 4).[0m ×2 + 23.77sWARNcontroller_managerOverrun might occur, Total time : 2575.653 us (Expected < 1666.667 us) --> Read time : 224.446 us, Update time : 312.037 us, Write time : 2039.170 us + 23.78sWARNros2_control_nodeOverrun might occur, Total time : 2575.653 us (Expected < 1666.667 us) --> Read time : 224.446 us, Update time : 312.037 us, Write time : 2039.170 us[0m ×2 + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314090 ms (missed cycles : 4). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314090 ms (missed cycles : 4).[0m ×2 + 24.89sWARNcontroller_managerOverrun might occur, Total time : 2026.100 us (Expected < 1666.667 us) --> Read time : 139.013 us, Update time : 1523.408 us, Write time : 363.679 us + 24.89sWARNros2_control_nodeOverrun might occur, Total time : 2026.100 us (Expected < 1666.667 us) --> Read time : 139.013 us, Update time : 1523.408 us, Write time : 363.679 us[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712942 ms (missed cycles : 3). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712942 ms (missed cycles : 3).[0m ×2 + 26.21sWARNcontroller_managerOverrun might occur, Total time : 3041.335 us (Expected < 1666.667 us) --> Read time : 206.525 us, Update time : 133.123 us, Write time : 2701.687 us + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105756 ms (missed cycles : 3). + 26.21sWARNros2_control_nodeOverrun might occur, Total time : 3041.335 us (Expected < 1666.667 us) --> Read time : 206.525 us, Update time : 133.123 us, Write time : 2701.687 us[0m ×2 + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105756 ms (missed cycles : 3).[0m ×2 + 26.92sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295100 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295100 ms (missed cycles : 2).[0m ×2 + 27.89sWARNcontroller_managerOverrun might occur, Total time : 2330.828 us (Expected < 1666.667 us) --> Read time : 157.004 us, Update time : 1784.734 us, Write time : 389.090 us + 27.89sWARNros2_control_nodeOverrun might occur, Total time : 2330.828 us (Expected < 1666.667 us) --> Read time : 157.004 us, Update time : 1784.734 us, Write time : 389.090 us[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527671 ms (missed cycles : 4). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527671 ms (missed cycles : 4).[0m ×2 + 29.08sWARNcontroller_managerOverrun might occur, Total time : 2495.281 us (Expected < 1666.667 us) --> Read time : 159.114 us, Update time : 270.867 us, Write time : 2065.300 us + 29.08sWARNros2_control_nodeOverrun might occur, Total time : 2495.281 us (Expected < 1666.667 us) --> Read time : 159.114 us, Update time : 270.867 us, Write time : 2065.300 us[0m ×2 + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321807 ms (missed cycles : 6). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321807 ms (missed cycles : 6).[0m ×2 + 30.23sWARNcontroller_managerOverrun might occur, Total time : 2492.531 us (Expected < 1666.667 us) --> Read time : 199.014 us, Update time : 1953.908 us, Write time : 339.609 us + 30.23sWARNros2_control_nodeOverrun might occur, Total time : 2492.531 us (Expected < 1666.667 us) --> Read time : 199.014 us, Update time : 1953.908 us, Write time : 339.609 us[0m ×2 + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828271 ms (missed cycles : 3). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828271 ms (missed cycles : 3).[0m ×2 + 31.35sWARNcontroller_managerOverrun might occur, Total time : 2412.350 us (Expected < 1666.667 us) --> Read time : 154.204 us, Update time : 509.033 us, Write time : 1749.113 us + 31.35sWARNros2_control_nodeOverrun might occur, Total time : 2412.350 us (Expected < 1666.667 us) --> Read time : 154.204 us, Update time : 509.033 us, Write time : 1749.113 us[0m ×2 + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068657 ms (missed cycles : 4). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068657 ms (missed cycles : 4).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015392 ms (missed cycles : 2). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015392 ms (missed cycles : 2).[0m ×2 + 33.06sWARNcontroller_managerOverrun might occur, Total time : 1775.844 us (Expected < 1666.667 us) --> Read time : 257.477 us, Update time : 222.675 us, Write time : 1295.692 us + 33.06sWARNros2_control_nodeOverrun might occur, Total time : 1775.844 us (Expected < 1666.667 us) --> Read time : 257.477 us, Update time : 222.675 us, Write time : 1295.692 us[0m ×2 + 33.45sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602812 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602812 ms (missed cycles : 2).[0m ×2 + 34.29sWARNcontroller_managerOverrun might occur, Total time : 3613.629 us (Expected < 1666.667 us) --> Read time : 143.013 us, Update time : 401.400 us, Write time : 3069.216 us + 34.29sWARNros2_control_nodeOverrun might occur, Total time : 3613.629 us (Expected < 1666.667 us) --> Read time : 143.013 us, Update time : 401.400 us, Write time : 3069.216 us[0m ×2 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500418 ms (missed cycles : 2). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500418 ms (missed cycles : 2).[0m ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801036 ms (missed cycles : 3). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801036 ms (missed cycles : 3).[0m ×2 + 35.94sWARNcontroller_managerOverrun might occur, Total time : 1730.713 us (Expected < 1666.667 us) --> Read time : 207.195 us, Update time : 114.473 us, Write time : 1409.045 us + 35.95sWARNros2_control_nodeOverrun might occur, Total time : 1730.713 us (Expected < 1666.667 us) --> Read time : 207.195 us, Update time : 114.473 us, Write time : 1409.045 us[0m ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279956 ms (missed cycles : 5). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279956 ms (missed cycles : 5).[0m ×2 + 37.15sWARNcontroller_managerOverrun might occur, Total time : 2795.109 us (Expected < 1666.667 us) --> Read time : 115.283 us, Update time : 2343.957 us, Write time : 335.869 us + 37.15sWARNros2_control_nodeOverrun might occur, Total time : 2795.109 us (Expected < 1666.667 us) --> Read time : 115.283 us, Update time : 2343.957 us, Write time : 335.869 us[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222032 ms (missed cycles : 5). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222032 ms (missed cycles : 5).[0m ×2 + 38.25sWARNcontroller_managerOverrun might occur, Total time : 3146.427 us (Expected < 1666.667 us) --> Read time : 152.403 us, Update time : 2531.523 us, Write time : 462.501 us + 38.26sWARNros2_control_nodeOverrun might occur, Total time : 3146.427 us (Expected < 1666.667 us) --> Read time : 152.403 us, Update time : 2531.523 us, Write time : 462.501 us[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751002 ms (missed cycles : 3). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751002 ms (missed cycles : 3).[0m ×2 + 39.67sWARNcontroller_managerOverrun might occur, Total time : 3694.750 us (Expected < 1666.667 us) --> Read time : 192.304 us, Update time : 3125.047 us, Write time : 377.399 us + 39.67sWARNros2_control_nodeOverrun might occur, Total time : 3694.750 us (Expected < 1666.667 us) --> Read time : 192.304 us, Update time : 3125.047 us, Write time : 377.399 us[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900134 ms (missed cycles : 3). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900134 ms (missed cycles : 3).[0m ×2 + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808663 ms (missed cycles : 6). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808663 ms (missed cycles : 6).[0m ×2 + 40.95sWARNcontroller_managerOverrun might occur, Total time : 3059.366 us (Expected < 1666.667 us) --> Read time : 156.424 us, Update time : 123.043 us, Write time : 2779.899 us + 40.96sWARNros2_control_nodeOverrun might occur, Total time : 3059.366 us (Expected < 1666.667 us) --> Read time : 156.424 us, Update time : 123.043 us, Write time : 2779.899 us[0m ×2 + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428056 ms (missed cycles : 3). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428056 ms (missed cycles : 3).[0m ×2 + 42.69sWARNcontroller_managerOverrun might occur, Total time : 2121.462 us (Expected < 1666.667 us) --> Read time : 1573.379 us, Update time : 135.273 us, Write time : 412.810 us + 42.69sWARNros2_control_nodeOverrun might occur, Total time : 2121.462 us (Expected < 1666.667 us) --> Read time : 1573.379 us, Update time : 135.273 us, Write time : 412.810 us[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699824 ms (missed cycles : 4). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699824 ms (missed cycles : 4).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856838 ms (missed cycles : 3). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856838 ms (missed cycles : 3).[0m ×2 + 44.17sWARNcontroller_managerOverrun might occur, Total time : 2649.335 us (Expected < 1666.667 us) --> Read time : 116.333 us, Update time : 2192.453 us, Write time : 340.549 us + 44.17sWARNros2_control_nodeOverrun might occur, Total time : 2649.335 us (Expected < 1666.667 us) --> Read time : 116.333 us, Update time : 2192.453 us, Write time : 340.549 us[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433774 ms (missed cycles : 3). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433774 ms (missed cycles : 3).[0m ×2 + 45.54sWARNcontroller_managerOverrun might occur, Total time : 5678.689 us (Expected < 1666.667 us) --> Read time : 372.469 us, Update time : 758.989 us, Write time : 4547.231 us + 45.54sWARNros2_control_nodeOverrun might occur, Total time : 5678.689 us (Expected < 1666.667 us) --> Read time : 372.469 us, Update time : 758.989 us, Write time : 4547.231 us[0m ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427840 ms (missed cycles : 2). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427840 ms (missed cycles : 2).[0m ×2 + 46.94sWARNcontroller_managerOverrun might occur, Total time : 3237.969 us (Expected < 1666.667 us) --> Read time : 182.444 us, Update time : 2668.836 us, Write time : 386.689 us + 46.94sWARNros2_control_nodeOverrun might occur, Total time : 3237.969 us (Expected < 1666.667 us) --> Read time : 182.444 us, Update time : 2668.836 us, Write time : 386.689 us[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400999 ms (missed cycles : 3). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400999 ms (missed cycles : 3).[0m ×2 + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664507 ms (missed cycles : 3). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664507 ms (missed cycles : 3).[0m ×2 + 48.09sWARNcontroller_managerOverrun might occur, Total time : 1882.857 us (Expected < 1666.667 us) --> Read time : 123.163 us, Update time : 144.274 us, Write time : 1615.420 us + 48.09sWARNros2_control_nodeOverrun might occur, Total time : 1882.857 us (Expected < 1666.667 us) --> Read time : 123.163 us, Update time : 144.274 us, Write time : 1615.420 us[0m ×2 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366944 ms (missed cycles : 5). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366944 ms (missed cycles : 5).[0m ×2 + 49.51sWARNcontroller_managerOverrun might occur, Total time : 2344.457 us (Expected < 1666.667 us) --> Read time : 256.206 us, Update time : 355.729 us, Write time : 1732.522 us + 49.51sWARNros2_control_nodeOverrun might occur, Total time : 2344.457 us (Expected < 1666.667 us) --> Read time : 256.206 us, Update time : 355.729 us, Write time : 1732.522 us[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898283 ms (missed cycles : 6). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898283 ms (missed cycles : 6).[0m ×2 + 50.89sWARNcontroller_managerOverrun might occur, Total time : 1887.686 us (Expected < 1666.667 us) --> Read time : 215.786 us, Update time : 1354.783 us, Write time : 317.117 us + 50.89sWARNros2_control_nodeOverrun might occur, Total time : 1887.686 us (Expected < 1666.667 us) --> Read time : 215.786 us, Update time : 1354.783 us, Write time : 317.117 us[0m ×2 + 51.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.492949 ms (missed cycles : 6). + 51.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.492949 ms (missed cycles : 6).[0m ×2 + 51.93sWARNcontroller_managerOverrun might occur, Total time : 6772.325 us (Expected < 1666.667 us) --> Read time : 187.344 us, Update time : 6209.272 us, Write time : 375.709 us + 51.93sWARNros2_control_nodeOverrun might occur, Total time : 6772.325 us (Expected < 1666.667 us) --> Read time : 187.344 us, Update time : 6209.272 us, Write time : 375.709 us[0m ×2 + 52.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294124 ms (missed cycles : 2). + 52.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294124 ms (missed cycles : 2).[0m ×2 + 52.96sWARNcontroller_managerOverrun might occur, Total time : 1702.332 us (Expected < 1666.667 us) --> Read time : 176.884 us, Update time : 1166.999 us, Write time : 358.449 us + 52.96sWARNros2_control_nodeOverrun might occur, Total time : 1702.332 us (Expected < 1666.667 us) --> Read time : 176.884 us, Update time : 1166.999 us, Write time : 358.449 us[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160741 ms (missed cycles : 4). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160741 ms (missed cycles : 4).[0m ×2 + 54.01sWARNcontroller_managerOverrun might occur, Total time : 6873.679 us (Expected < 1666.667 us) --> Read time : 152.334 us, Update time : 90.892 us, Write time : 6630.453 us + 54.01sWARNros2_control_nodeOverrun might occur, Total time : 6873.679 us (Expected < 1666.667 us) --> Read time : 152.334 us, Update time : 90.892 us, Write time : 6630.453 us[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180697 ms (missed cycles : 3). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180697 ms (missed cycles : 3).[0m ×2 + 55.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605040 ms (missed cycles : 3). + 55.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605040 ms (missed cycles : 3).[0m ×2 + 55.35sWARNcontroller_managerOverrun might occur, Total time : 7837.773 us (Expected < 1666.667 us) --> Read time : 269.777 us, Update time : 7195.627 us, Write time : 372.369 us + 55.35sWARNros2_control_nodeOverrun might occur, Total time : 7837.773 us (Expected < 1666.667 us) --> Read time : 269.777 us, Update time : 7195.627 us, Write time : 372.369 us[0m ×2 + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715817 ms (missed cycles : 4). + 56.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715817 ms (missed cycles : 4).[0m ×2 + 56.97sWARNcontroller_managerOverrun might occur, Total time : 5170.676 us (Expected < 1666.667 us) --> Read time : 102.033 us, Update time : 4664.703 us, Write time : 403.940 us + 56.97sWARNros2_control_nodeOverrun might occur, Total time : 5170.676 us (Expected < 1666.667 us) --> Read time : 102.033 us, Update time : 4664.703 us, Write time : 403.940 us[0m ×2 + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017425 ms (missed cycles : 2). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017425 ms (missed cycles : 2).[0m ×2 + 58.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779039 ms (missed cycles : 5). + 58.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779039 ms (missed cycles : 5).[0m ×2 + 58.58sWARNcontroller_managerOverrun might occur, Total time : 2912.692 us (Expected < 1666.667 us) --> Read time : 132.504 us, Update time : 2444.810 us, Write time : 335.378 us + 58.59sWARNros2_control_nodeOverrun might occur, Total time : 2912.692 us (Expected < 1666.667 us) --> Read time : 132.504 us, Update time : 2444.810 us, Write time : 335.378 us[0m ×2 + 59.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530188 ms (missed cycles : 4). + 59.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530188 ms (missed cycles : 4).[0m ×2 + 59.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781192270.25150919 seconds ×3 + 59.84sWARNcontroller_managerOverrun might occur, Total time : 3092.815 us (Expected < 1666.667 us) --> Read time : 114.943 us, Update time : 259.566 us, Write time : 2718.306 us + 59.84sWARNros2_control_nodeOverrun might occur, Total time : 3092.815 us (Expected < 1666.667 us) --> Read time : 114.943 us, Update time : 259.566 us, Write time : 2718.306 us[0m ×2 + 60.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781192270.80279684 seconds. ×3 + 60.42sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 60.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.374939 ms (missed cycles : 7). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.374939 ms (missed cycles : 7).[0m ×2 + 61.06sWARNcontroller_managerOverrun might occur, Total time : 3225.069 us (Expected < 1666.667 us) --> Read time : 118.903 us, Update time : 2666.065 us, Write time : 440.101 us + 61.06sWARNros2_control_nodeOverrun might occur, Total time : 3225.069 us (Expected < 1666.667 us) --> Read time : 118.903 us, Update time : 2666.065 us, Write time : 440.101 us[0m ×2 + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338933 ms (missed cycles : 6). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338933 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.8s | 303 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.60468626 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.15772390 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.08sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086233 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086233 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun might occur, Total time : 1932.248 us (Expected < 1666.667 us) --> Read time : 200.225 us, Update time : 1395.834 us, Write time : 336.189 us + 7.45sWARNros2_control_nodeOverrun might occur, Total time : 1932.248 us (Expected < 1666.667 us) --> Read time : 200.225 us, Update time : 1395.834 us, Write time : 336.189 us[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281248 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281248 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun might occur, Total time : 3256.610 us (Expected < 1666.667 us) --> Read time : 854.571 us, Update time : 152.514 us, Write time : 2249.525 us + 8.51sWARNros2_control_nodeOverrun might occur, Total time : 3256.610 us (Expected < 1666.667 us) --> Read time : 854.571 us, Update time : 152.514 us, Write time : 2249.525 us[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864007 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864007 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun might occur, Total time : 2137.392 us (Expected < 1666.667 us) --> Read time : 582.364 us, Update time : 1169.769 us, Write time : 385.259 us + 9.78sWARNros2_control_nodeOverrun might occur, Total time : 2137.392 us (Expected < 1666.667 us) --> Read time : 582.364 us, Update time : 1169.769 us, Write time : 385.259 us[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.834263 ms (missed cycles : 6). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.834263 ms (missed cycles : 6).[0m ×2 + 11.40sWARNcontroller_managerOverrun might occur, Total time : 3718.092 us (Expected < 1666.667 us) --> Read time : 142.524 us, Update time : 101.962 us, Write time : 3473.606 us + 11.40sWARNros2_control_nodeOverrun might occur, Total time : 3718.092 us (Expected < 1666.667 us) --> Read time : 142.524 us, Update time : 101.962 us, Write time : 3473.606 us[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389508 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389508 ms (missed cycles : 4).[0m ×2 + 12.63sWARNcontroller_managerOverrun might occur, Total time : 2508.842 us (Expected < 1666.667 us) --> Read time : 138.543 us, Update time : 2023.890 us, Write time : 346.409 us + 12.63sWARNros2_control_nodeOverrun might occur, Total time : 2508.842 us (Expected < 1666.667 us) --> Read time : 138.543 us, Update time : 2023.890 us, Write time : 346.409 us[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908473 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908473 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767082 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767082 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun might occur, Total time : 6246.464 us (Expected < 1666.667 us) --> Read time : 200.535 us, Update time : 581.094 us, Write time : 5464.835 us + 13.65sWARNros2_control_nodeOverrun might occur, Total time : 6246.464 us (Expected < 1666.667 us) --> Read time : 200.535 us, Update time : 581.094 us, Write time : 5464.835 us[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247046 ms (missed cycles : 5). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247046 ms (missed cycles : 5).[0m ×2 + 14.90sWARNcontroller_managerOverrun might occur, Total time : 3581.898 us (Expected < 1666.667 us) --> Read time : 126.113 us, Update time : 2986.474 us, Write time : 469.311 us + 14.90sWARNros2_control_nodeOverrun might occur, Total time : 3581.898 us (Expected < 1666.667 us) --> Read time : 126.113 us, Update time : 2986.474 us, Write time : 469.311 us[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427705 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427705 ms (missed cycles : 3).[0m ×2 + 16.25sWARNcontroller_managerOverrun might occur, Total time : 2590.474 us (Expected < 1666.667 us) --> Read time : 134.973 us, Update time : 2127.683 us, Write time : 327.818 us + 16.26sWARNros2_control_nodeOverrun might occur, Total time : 2590.474 us (Expected < 1666.667 us) --> Read time : 134.973 us, Update time : 2127.683 us, Write time : 327.818 us[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643266 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643266 ms (missed cycles : 4).[0m ×2 + 17.35sWARNcontroller_managerOverrun might occur, Total time : 7878.672 us (Expected < 1666.667 us) --> Read time : 173.224 us, Update time : 139.153 us, Write time : 7566.295 us + 17.35sWARNros2_control_nodeOverrun might occur, Total time : 7878.672 us (Expected < 1666.667 us) --> Read time : 173.224 us, Update time : 139.153 us, Write time : 7566.295 us[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292495 ms (missed cycles : 3). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292495 ms (missed cycles : 3).[0m ×2 + 18.54sWARNcontroller_managerOverrun might occur, Total time : 2152.703 us (Expected < 1666.667 us) --> Read time : 168.984 us, Update time : 1375.244 us, Write time : 608.475 us + 18.54sWARNros2_control_nodeOverrun might occur, Total time : 2152.703 us (Expected < 1666.667 us) --> Read time : 168.984 us, Update time : 1375.244 us, Write time : 608.475 us[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987933 ms (missed cycles : 2). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987933 ms (missed cycles : 2).[0m ×2 + 19.82sWARNcontroller_managerOverrun might occur, Total time : 2983.782 us (Expected < 1666.667 us) --> Read time : 240.446 us, Update time : 2384.008 us, Write time : 359.328 us + 19.82sWARNros2_control_nodeOverrun might occur, Total time : 2983.782 us (Expected < 1666.667 us) --> Read time : 240.446 us, Update time : 2384.008 us, Write time : 359.328 us[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001664 ms (missed cycles : 3). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001664 ms (missed cycles : 3).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.482891 ms (missed cycles : 6). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.482891 ms (missed cycles : 6).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942662 ms (missed cycles : 3). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942662 ms (missed cycles : 3).[0m ×2 + 22.02sWARNcontroller_managerOverrun might occur, Total time : 3675.391 us (Expected < 1666.667 us) --> Read time : 269.437 us, Update time : 2933.892 us, Write time : 472.062 us + 22.02sWARNros2_control_nodeOverrun might occur, Total time : 3675.391 us (Expected < 1666.667 us) --> Read time : 269.437 us, Update time : 2933.892 us, Write time : 472.062 us[0m ×2 + 23.10sWARNcontroller_managerOverrun might occur, Total time : 5529.405 us (Expected < 1666.667 us) --> Read time : 195.475 us, Update time : 4919.750 us, Write time : 414.180 us + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355557 ms (missed cycles : 4). + 23.10sWARNros2_control_nodeOverrun might occur, Total time : 5529.405 us (Expected < 1666.667 us) --> Read time : 195.475 us, Update time : 4919.750 us, Write time : 414.180 us[0m ×2 + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355557 ms (missed cycles : 4).[0m ×2 + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160091 ms (missed cycles : 5). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160091 ms (missed cycles : 5).[0m ×2 + 24.37sWARNcontroller_managerOverrun might occur, Total time : 2864.840 us (Expected < 1666.667 us) --> Read time : 131.713 us, Update time : 2305.076 us, Write time : 428.051 us + 24.37sWARNros2_control_nodeOverrun might occur, Total time : 2864.840 us (Expected < 1666.667 us) --> Read time : 131.713 us, Update time : 2305.076 us, Write time : 428.051 us[0m ×2 + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196045 ms (missed cycles : 5). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196045 ms (missed cycles : 5).[0m ×2 + 26.09sWARNcontroller_managerOverrun might occur, Total time : 2521.371 us (Expected < 1666.667 us) --> Read time : 211.885 us, Update time : 1968.428 us, Write time : 341.058 us + 26.09sWARNros2_control_nodeOverrun might occur, Total time : 2521.371 us (Expected < 1666.667 us) --> Read time : 211.885 us, Update time : 1968.428 us, Write time : 341.058 us[0m ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208581 ms (missed cycles : 2). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208581 ms (missed cycles : 2).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614081 ms (missed cycles : 4). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614081 ms (missed cycles : 4).[0m ×2 + 28.02sWARNcontroller_managerOverrun might occur, Total time : 4152.132 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 3600.228 us, Write time : 401.080 us + 28.02sWARNros2_control_nodeOverrun might occur, Total time : 4152.132 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 3600.228 us, Write time : 401.080 us[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753340 ms (missed cycles : 3). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753340 ms (missed cycles : 3).[0m ×2 + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973965 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973965 ms (missed cycles : 3).[0m ×2 + 29.55sWARNcontroller_managerOverrun might occur, Total time : 2201.794 us (Expected < 1666.667 us) --> Read time : 140.223 us, Update time : 436.501 us, Write time : 1625.070 us + 29.55sWARNros2_control_nodeOverrun might occur, Total time : 2201.794 us (Expected < 1666.667 us) --> Read time : 140.223 us, Update time : 436.501 us, Write time : 1625.070 us[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722318 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722318 ms (missed cycles : 2).[0m ×2 + 30.65sWARNcontroller_managerOverrun might occur, Total time : 1756.323 us (Expected < 1666.667 us) --> Read time : 139.513 us, Update time : 119.843 us, Write time : 1496.967 us + 30.65sWARNros2_control_nodeOverrun might occur, Total time : 1756.323 us (Expected < 1666.667 us) --> Read time : 139.513 us, Update time : 119.843 us, Write time : 1496.967 us[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.651829 ms (missed cycles : 6). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.651829 ms (missed cycles : 6).[0m ×2 + 31.95sWARNcontroller_managerOverrun might occur, Total time : 1761.333 us (Expected < 1666.667 us) --> Read time : 473.672 us, Update time : 887.781 us, Write time : 399.880 us + 31.96sWARNros2_control_nodeOverrun might occur, Total time : 1761.333 us (Expected < 1666.667 us) --> Read time : 473.672 us, Update time : 887.781 us, Write time : 399.880 us[0m ×2 + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860383 ms (missed cycles : 5). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860383 ms (missed cycles : 5).[0m ×2 + 33.14sWARNcontroller_managerOverrun might occur, Total time : 2758.458 us (Expected < 1666.667 us) --> Read time : 142.024 us, Update time : 2285.516 us, Write time : 330.918 us + 33.14sWARNros2_control_nodeOverrun might occur, Total time : 2758.458 us (Expected < 1666.667 us) --> Read time : 142.024 us, Update time : 2285.516 us, Write time : 330.918 us[0m ×2 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321917 ms (missed cycles : 5). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321917 ms (missed cycles : 5).[0m ×2 + 33.88sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.45sINFOobjective_server_nodePlanning for 50 path waypoints. ×3 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757065 ms (missed cycles : 3). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757065 ms (missed cycles : 3).[0m ×2 + 34.78sWARNcontroller_managerOverrun might occur, Total time : 2093.722 us (Expected < 1666.667 us) --> Read time : 183.845 us, Update time : 1476.766 us, Write time : 433.111 us + 34.78sWARNros2_control_nodeOverrun might occur, Total time : 2093.722 us (Expected < 1666.667 us) --> Read time : 183.845 us, Update time : 1476.766 us, Write time : 433.111 us[0m ×2 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845292 ms (missed cycles : 3). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845292 ms (missed cycles : 3).[0m ×2 + 36.09sWARNcontroller_managerOverrun might occur, Total time : 7480.533 us (Expected < 1666.667 us) --> Read time : 134.863 us, Update time : 3254.770 us, Write time : 4090.900 us + 36.09sWARNros2_control_nodeOverrun might occur, Total time : 7480.533 us (Expected < 1666.667 us) --> Read time : 134.863 us, Update time : 3254.770 us, Write time : 4090.900 us[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545134 ms (missed cycles : 4). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545134 ms (missed cycles : 4).[0m ×2 + 37.27sWARNcontroller_managerOverrun might occur, Total time : 2048.340 us (Expected < 1666.667 us) --> Read time : 227.676 us, Update time : 230.306 us, Write time : 1590.358 us + 37.27sWARNros2_control_nodeOverrun might occur, Total time : 2048.340 us (Expected < 1666.667 us) --> Read time : 227.676 us, Update time : 230.306 us, Write time : 1590.358 us[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199730 ms (missed cycles : 2). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199730 ms (missed cycles : 2).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755083 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755083 ms (missed cycles : 2).[0m ×2 + 39.01sWARNcontroller_managerOverrun might occur, Total time : 2330.587 us (Expected < 1666.667 us) --> Read time : 105.762 us, Update time : 68.042 us, Write time : 2156.783 us + 39.02sWARNros2_control_nodeOverrun might occur, Total time : 2330.587 us (Expected < 1666.667 us) --> Read time : 105.762 us, Update time : 68.042 us, Write time : 2156.783 us[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424801 ms (missed cycles : 4). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424801 ms (missed cycles : 4).[0m ×2 + 40.46sWARNcontroller_managerOverrun might occur, Total time : 1734.022 us (Expected < 1666.667 us) --> Read time : 162.834 us, Update time : 1185.709 us, Write time : 385.479 us + 40.46sWARNros2_control_nodeOverrun might occur, Total time : 1734.022 us (Expected < 1666.667 us) --> Read time : 162.834 us, Update time : 1185.709 us, Write time : 385.479 us[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583933 ms (missed cycles : 4). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583933 ms (missed cycles : 4).[0m ×2 + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775774 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775774 ms (missed cycles : 3).[0m ×2 + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838096 ms (missed cycles : 4). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838096 ms (missed cycles : 4).[0m ×2 + 43.87sINFOros2_control_nodeMuJoCo sim: 0.89% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888633 ms (missed cycles : 6). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888633 ms (missed cycles : 6).[0m ×2 + 44.71sWARNcontroller_managerOverrun might occur, Total time : 3225.900 us (Expected < 1666.667 us) --> Read time : 158.834 us, Update time : 2713.797 us, Write time : 353.269 us + 44.71sWARNros2_control_nodeOverrun might occur, Total time : 3225.900 us (Expected < 1666.667 us) --> Read time : 158.834 us, Update time : 2713.797 us, Write time : 353.269 us[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079583 ms (missed cycles : 3). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079583 ms (missed cycles : 3).[0m ×2 + 45.85sWARNcontroller_managerOverrun might occur, Total time : 2224.735 us (Expected < 1666.667 us) --> Read time : 132.444 us, Update time : 1699.161 us, Write time : 393.130 us + 45.85sWARNros2_control_nodeOverrun might occur, Total time : 2224.735 us (Expected < 1666.667 us) --> Read time : 132.444 us, Update time : 1699.161 us, Write time : 393.130 us[0m ×2 + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005553 ms (missed cycles : 3). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005553 ms (missed cycles : 3).[0m ×2 + 47.06sWARNcontroller_managerOverrun might occur, Total time : 2925.911 us (Expected < 1666.667 us) --> Read time : 354.378 us, Update time : 346.759 us, Write time : 2224.774 us + 47.06sWARNros2_control_nodeOverrun might occur, Total time : 2925.911 us (Expected < 1666.667 us) --> Read time : 354.378 us, Update time : 346.759 us, Write time : 2224.774 us[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670232 ms (missed cycles : 3). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670232 ms (missed cycles : 3).[0m ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068820 ms (missed cycles : 6). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068820 ms (missed cycles : 6).[0m ×2 + 48.81sWARNcontroller_managerOverrun might occur, Total time : 1904.147 us (Expected < 1666.667 us) --> Read time : 257.567 us, Update time : 1244.900 us, Write time : 401.680 us + 48.81sWARNros2_control_nodeOverrun might occur, Total time : 1904.147 us (Expected < 1666.667 us) --> Read time : 257.567 us, Update time : 1244.900 us, Write time : 401.680 us[0m ×2 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762624 ms (missed cycles : 2). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762624 ms (missed cycles : 2).[0m ×2 + 50.16sWARNcontroller_managerOverrun might occur, Total time : 2893.211 us (Expected < 1666.667 us) --> Read time : 141.864 us, Update time : 433.830 us, Write time : 2317.517 us + 50.16sWARNros2_control_nodeOverrun might occur, Total time : 2893.211 us (Expected < 1666.667 us) --> Read time : 141.864 us, Update time : 433.830 us, Write time : 2317.517 us[0m ×2 + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385007 ms (missed cycles : 4). + 50.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385007 ms (missed cycles : 4).[0m ×2 + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953550 ms (missed cycles : 3). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953550 ms (missed cycles : 3).[0m ×2 + 51.45sWARNcontroller_managerOverrun might occur, Total time : 3489.285 us (Expected < 1666.667 us) --> Read time : 160.104 us, Update time : 2899.141 us, Write time : 430.040 us + 51.45sWARNros2_control_nodeOverrun might occur, Total time : 3489.285 us (Expected < 1666.667 us) --> Read time : 160.104 us, Update time : 2899.141 us, Write time : 430.040 us[0m ×2 + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068310 ms (missed cycles : 4). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068310 ms (missed cycles : 4).[0m ×2 + 52.93sWARNcontroller_managerOverrun might occur, Total time : 2912.331 us (Expected < 1666.667 us) --> Read time : 164.744 us, Update time : 2362.368 us, Write time : 385.219 us + 52.93sWARNros2_control_nodeOverrun might occur, Total time : 2912.331 us (Expected < 1666.667 us) --> Read time : 164.744 us, Update time : 2362.368 us, Write time : 385.219 us[0m ×2 + 53.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652946 ms (missed cycles : 3). + 53.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652946 ms (missed cycles : 3).[0m ×2 + 54.02sWARNcontroller_managerOverrun might occur, Total time : 3752.972 us (Expected < 1666.667 us) --> Read time : 209.075 us, Update time : 138.743 us, Write time : 3405.154 us + 54.02sWARNros2_control_nodeOverrun might occur, Total time : 3752.972 us (Expected < 1666.667 us) --> Read time : 209.075 us, Update time : 138.743 us, Write time : 3405.154 us[0m ×2 + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187407 ms (missed cycles : 2). + 54.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187407 ms (missed cycles : 2).[0m ×2 + 55.15sWARNcontroller_managerOverrun might occur, Total time : 8179.971 us (Expected < 1666.667 us) --> Read time : 165.754 us, Update time : 118.683 us, Write time : 7895.534 us + 55.15sWARNros2_control_nodeOverrun might occur, Total time : 8179.971 us (Expected < 1666.667 us) --> Read time : 165.754 us, Update time : 118.683 us, Write time : 7895.534 us[0m ×2 + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198780 ms (missed cycles : 2). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198780 ms (missed cycles : 2).[0m ×2 + 56.53sWARNcontroller_managerOverrun might occur, Total time : 1834.915 us (Expected < 1666.667 us) --> Read time : 166.224 us, Update time : 678.826 us, Write time : 989.865 us + 56.53sWARNros2_control_nodeOverrun might occur, Total time : 1834.915 us (Expected < 1666.667 us) --> Read time : 166.224 us, Update time : 678.826 us, Write time : 989.865 us[0m ×2 + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.171644 ms (missed cycles : 8). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.171644 ms (missed cycles : 8).[0m ×2 + 57.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781192131.43837309 seconds ×3 + 57.69sWARNcontroller_managerOverrun might occur, Total time : 2048.171 us (Expected < 1666.667 us) --> Read time : 157.464 us, Update time : 328.378 us, Write time : 1562.329 us + 57.70sWARNros2_control_nodeOverrun might occur, Total time : 2048.171 us (Expected < 1666.667 us) --> Read time : 157.464 us, Update time : 328.378 us, Write time : 1562.329 us[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607480 ms (missed cycles : 2). + 57.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607480 ms (missed cycles : 2).[0m ×2 + 58.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781192131.99909711 seconds. ×3 + 58.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 58.75sWARNcontroller_managerOverrun might occur, Total time : 2972.893 us (Expected < 1666.667 us) --> Read time : 154.114 us, Update time : 1977.828 us, Write time : 840.951 us + 58.75sWARNros2_control_nodeOverrun might occur, Total time : 2972.893 us (Expected < 1666.667 us) --> Read time : 154.114 us, Update time : 1977.828 us, Write time : 840.951 us[0m ×2 + 58.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730392 ms (missed cycles : 3). + 58.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730392 ms (missed cycles : 3).[0m ×2 + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218716 ms (missed cycles : 2). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218716 ms (missed cycles : 2).[0m ×2 + 59.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 255 warnings · 652 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.10sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.10sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.44sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.44sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 0.51sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.53sINFOplatform_velocity_controller_nav2configure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×2 + 0.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.02sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.02sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.04sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.05sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.40sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 1.44sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.07sINFOmove_groupOctomap cleared.[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 2.50sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 2.50sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 3.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 4.83sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 4.91sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 5.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800711 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800711 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699315 ms (missed cycles : 6). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699315 ms (missed cycles : 6).[0m ×2 + 8.62sWARNcontroller_managerOverrun might occur, Total time : 2687.736 us (Expected < 1666.667 us) --> Read time : 160.644 us, Update time : 105.463 us, Write time : 2421.629 us + 8.62sWARNros2_control_nodeOverrun might occur, Total time : 2687.736 us (Expected < 1666.667 us) --> Read time : 160.644 us, Update time : 105.463 us, Write time : 2421.629 us[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539543 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539543 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun might occur, Total time : 1782.433 us (Expected < 1666.667 us) --> Read time : 1359.343 us, Update time : 134.713 us, Write time : 288.377 us + 9.64sWARNros2_control_nodeOverrun might occur, Total time : 1782.433 us (Expected < 1666.667 us) --> Read time : 1359.343 us, Update time : 134.713 us, Write time : 288.377 us[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921150 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921150 ms (missed cycles : 3).[0m ×2 + 10.91sWARNcontroller_managerOverrun might occur, Total time : 7643.756 us (Expected < 1666.667 us) --> Read time : 136.233 us, Update time : 7107.233 us, Write time : 400.290 us + 10.91sWARNros2_control_nodeOverrun might occur, Total time : 7643.756 us (Expected < 1666.667 us) --> Read time : 136.233 us, Update time : 7107.233 us, Write time : 400.290 us[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143714 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143714 ms (missed cycles : 2).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781572 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781572 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun might occur, Total time : 2125.582 us (Expected < 1666.667 us) --> Read time : 150.843 us, Update time : 1646.171 us, Write time : 328.568 us + 12.05sWARNros2_control_nodeOverrun might occur, Total time : 2125.582 us (Expected < 1666.667 us) --> Read time : 150.843 us, Update time : 1646.171 us, Write time : 328.568 us[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383934 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383934 ms (missed cycles : 3).[0m ×2 + 13.09sWARNcontroller_managerOverrun might occur, Total time : 3187.108 us (Expected < 1666.667 us) --> Read time : 159.044 us, Update time : 2615.924 us, Write time : 412.140 us + 13.09sWARNros2_control_nodeOverrun might occur, Total time : 3187.108 us (Expected < 1666.667 us) --> Read time : 159.044 us, Update time : 2615.924 us, Write time : 412.140 us[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411798 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411798 ms (missed cycles : 3).[0m ×2 + 14.17sWARNcontroller_managerOverrun might occur, Total time : 3326.601 us (Expected < 1666.667 us) --> Read time : 130.813 us, Update time : 2841.930 us, Write time : 353.858 us + 14.17sWARNros2_control_nodeOverrun might occur, Total time : 3326.601 us (Expected < 1666.667 us) --> Read time : 130.813 us, Update time : 2841.930 us, Write time : 353.858 us[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429032 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429032 ms (missed cycles : 4).[0m ×2 + 15.44sWARNcontroller_managerOverrun might occur, Total time : 2350.607 us (Expected < 1666.667 us) --> Read time : 175.234 us, Update time : 1813.944 us, Write time : 361.429 us + 15.44sWARNros2_control_nodeOverrun might occur, Total time : 2350.607 us (Expected < 1666.667 us) --> Read time : 175.234 us, Update time : 1813.944 us, Write time : 361.429 us[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435510 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435510 ms (missed cycles : 4).[0m ×2 + 16.81sWARNcontroller_managerOverrun might occur, Total time : 1751.773 us (Expected < 1666.667 us) --> Read time : 412.690 us, Update time : 879.172 us, Write time : 459.911 us + 16.81sWARNros2_control_nodeOverrun might occur, Total time : 1751.773 us (Expected < 1666.667 us) --> Read time : 412.690 us, Update time : 879.172 us, Write time : 459.911 us[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.191777 ms (missed cycles : 7). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.191777 ms (missed cycles : 7).[0m ×2 + 18.08sWARNcontroller_managerOverrun might occur, Total time : 1846.335 us (Expected < 1666.667 us) --> Read time : 179.695 us, Update time : 753.708 us, Write time : 912.932 us + 18.08sWARNros2_control_nodeOverrun might occur, Total time : 1846.335 us (Expected < 1666.667 us) --> Read time : 179.695 us, Update time : 753.708 us, Write time : 912.932 us[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685656 ms (missed cycles : 3). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685656 ms (missed cycles : 3).[0m ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981152 ms (missed cycles : 5). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981152 ms (missed cycles : 5).[0m ×2 + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964471 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964471 ms (missed cycles : 2).[0m ×2 + 20.27sWARNcontroller_managerOverrun might occur, Total time : 1870.885 us (Expected < 1666.667 us) --> Read time : 231.305 us, Update time : 1278.311 us, Write time : 361.269 us + 20.27sWARNros2_control_nodeOverrun might occur, Total time : 1870.885 us (Expected < 1666.667 us) --> Read time : 231.305 us, Update time : 1278.311 us, Write time : 361.269 us[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753197 ms (missed cycles : 3). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753197 ms (missed cycles : 3).[0m ×2 + 21.74sWARNcontroller_managerOverrun might occur, Total time : 3033.414 us (Expected < 1666.667 us) --> Read time : 137.863 us, Update time : 2437.050 us, Write time : 458.501 us + 21.74sWARNros2_control_nodeOverrun might occur, Total time : 3033.414 us (Expected < 1666.667 us) --> Read time : 137.863 us, Update time : 2437.050 us, Write time : 458.501 us[0m ×2 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187862 ms (missed cycles : 5). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187862 ms (missed cycles : 5).[0m ×2 + 23.00sWARNcontroller_managerOverrun might occur, Total time : 2256.195 us (Expected < 1666.667 us) --> Read time : 225.765 us, Update time : 1614.380 us, Write time : 416.050 us + 23.00sWARNros2_control_nodeOverrun might occur, Total time : 2256.195 us (Expected < 1666.667 us) --> Read time : 225.765 us, Update time : 1614.380 us, Write time : 416.050 us[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543646 ms (missed cycles : 4). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543646 ms (missed cycles : 4).[0m ×2 + 24.24sWARNcontroller_managerOverrun might occur, Total time : 4106.280 us (Expected < 1666.667 us) --> Read time : 273.806 us, Update time : 359.589 us, Write time : 3472.885 us + 24.25sWARNros2_control_nodeOverrun might occur, Total time : 4106.280 us (Expected < 1666.667 us) --> Read time : 273.806 us, Update time : 359.589 us, Write time : 3472.885 us[0m ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261926 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261926 ms (missed cycles : 2).[0m ×2 + 25.29sWARNcontroller_managerOverrun might occur, Total time : 1698.862 us (Expected < 1666.667 us) --> Read time : 113.413 us, Update time : 1315.792 us, Write time : 269.657 us + 25.29sWARNros2_control_nodeOverrun might occur, Total time : 1698.862 us (Expected < 1666.667 us) --> Read time : 113.413 us, Update time : 1315.792 us, Write time : 269.657 us[0m ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314249 ms (missed cycles : 4). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314249 ms (missed cycles : 4).[0m ×2 + 26.35sWARNcontroller_managerOverrun might occur, Total time : 1769.414 us (Expected < 1666.667 us) --> Read time : 924.513 us, Update time : 527.263 us, Write time : 317.638 us + 26.36sWARNros2_control_nodeOverrun might occur, Total time : 1769.414 us (Expected < 1666.667 us) --> Read time : 924.513 us, Update time : 527.263 us, Write time : 317.638 us[0m ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854027 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854027 ms (missed cycles : 2).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561515 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561515 ms (missed cycles : 2).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914697 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914697 ms (missed cycles : 2).[0m ×2 + 29.76sWARNcontroller_managerOverrun might occur, Total time : 2993.973 us (Expected < 1666.667 us) --> Read time : 156.104 us, Update time : 129.913 us, Write time : 2707.956 us + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651385 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun might occur, Total time : 2993.973 us (Expected < 1666.667 us) --> Read time : 156.104 us, Update time : 129.913 us, Write time : 2707.956 us[0m ×2 + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651385 ms (missed cycles : 3).[0m ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549163 ms (missed cycles : 3). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549163 ms (missed cycles : 3).[0m ×2 + 30.88sWARNcontroller_managerOverrun might occur, Total time : 1997.819 us (Expected < 1666.667 us) --> Read time : 128.823 us, Update time : 1563.738 us, Write time : 305.258 us + 30.88sWARNros2_control_nodeOverrun might occur, Total time : 1997.819 us (Expected < 1666.667 us) --> Read time : 128.823 us, Update time : 1563.738 us, Write time : 305.258 us[0m ×2 + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030405 ms (missed cycles : 2). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030405 ms (missed cycles : 2).[0m ×2 + 32.04sWARNcontroller_managerOverrun might occur, Total time : 2258.725 us (Expected < 1666.667 us) --> Read time : 162.954 us, Update time : 1736.142 us, Write time : 359.629 us + 32.04sWARNros2_control_nodeOverrun might occur, Total time : 2258.725 us (Expected < 1666.667 us) --> Read time : 162.954 us, Update time : 1736.142 us, Write time : 359.629 us[0m ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187292 ms (missed cycles : 5). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187292 ms (missed cycles : 5).[0m ×2 + 33.65sWARNcontroller_managerOverrun might occur, Total time : 2681.056 us (Expected < 1666.667 us) --> Read time : 2140.223 us, Update time : 156.514 us, Write time : 384.319 us + 33.65sWARNros2_control_nodeOverrun might occur, Total time : 2681.056 us (Expected < 1666.667 us) --> Read time : 2140.223 us, Update time : 156.514 us, Write time : 384.319 us[0m ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938099 ms (missed cycles : 3). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938099 ms (missed cycles : 3).[0m ×2 + 34.75sWARNcontroller_managerOverrun might occur, Total time : 2566.223 us (Expected < 1666.667 us) --> Read time : 143.823 us, Update time : 1877.786 us, Write time : 544.614 us + 34.75sWARNros2_control_nodeOverrun might occur, Total time : 2566.223 us (Expected < 1666.667 us) --> Read time : 143.823 us, Update time : 1877.786 us, Write time : 544.614 us[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240492 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240492 ms (missed cycles : 2).[0m ×2 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.548756 ms (missed cycles : 7). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.548756 ms (missed cycles : 7).[0m ×2 + 36.35sWARNcontroller_managerOverrun might occur, Total time : 1784.374 us (Expected < 1666.667 us) --> Read time : 714.788 us, Update time : 170.214 us, Write time : 899.372 us + 36.35sWARNros2_control_nodeOverrun might occur, Total time : 1784.374 us (Expected < 1666.667 us) --> Read time : 714.788 us, Update time : 170.214 us, Write time : 899.372 us[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538660 ms (missed cycles : 4). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538660 ms (missed cycles : 4).[0m ×2 + 38.01sWARNcontroller_managerOverrun might occur, Total time : 1862.986 us (Expected < 1666.667 us) --> Read time : 360.769 us, Update time : 791.650 us, Write time : 710.567 us + 38.01sWARNros2_control_nodeOverrun might occur, Total time : 1862.986 us (Expected < 1666.667 us) --> Read time : 360.769 us, Update time : 791.650 us, Write time : 710.567 us[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800591 ms (missed cycles : 2). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800591 ms (missed cycles : 2).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.617042 ms (missed cycles : 6). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.617042 ms (missed cycles : 6).[0m ×2 + 39.55sWARNcontroller_managerOverrun might occur, Total time : 2590.443 us (Expected < 1666.667 us) --> Read time : 371.219 us, Update time : 1713.572 us, Write time : 505.652 us + 39.55sWARNros2_control_nodeOverrun might occur, Total time : 2590.443 us (Expected < 1666.667 us) --> Read time : 371.219 us, Update time : 1713.572 us, Write time : 505.652 us[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978009 ms (missed cycles : 3). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978009 ms (missed cycles : 3).[0m ×2 + 40.78sWARNcontroller_managerOverrun might occur, Total time : 3032.915 us (Expected < 1666.667 us) --> Read time : 380.550 us, Update time : 2211.944 us, Write time : 440.421 us + 40.78sWARNros2_control_nodeOverrun might occur, Total time : 3032.915 us (Expected < 1666.667 us) --> Read time : 380.550 us, Update time : 2211.944 us, Write time : 440.421 us[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689412 ms (missed cycles : 3). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689412 ms (missed cycles : 3).[0m ×2 + 42.21sWARNcontroller_managerOverrun might occur, Total time : 5301.741 us (Expected < 1666.667 us) --> Read time : 152.294 us, Update time : 4747.167 us, Write time : 402.280 us + 42.21sWARNros2_control_nodeOverrun might occur, Total time : 5301.741 us (Expected < 1666.667 us) --> Read time : 152.294 us, Update time : 4747.167 us, Write time : 402.280 us[0m ×2 + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393367 ms (missed cycles : 3). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393367 ms (missed cycles : 3).[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347530 ms (missed cycles : 3). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347530 ms (missed cycles : 3).[0m ×2 + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2).[0m ×2 + 44.46sWARNcontroller_managerOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us + 44.46sWARNros2_control_nodeOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7).[0m ×2 + 45.69sWARNcontroller_managerOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us + 45.69sWARNros2_control_nodeOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5).[0m ×2 + 47.18sWARNcontroller_managerOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us + 47.18sWARNros2_control_nodeOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4).[0m ×2 + 47.49sINFOjoint_trajectory_controllerGoal reached, success! + 47.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.32665896 seconds ×3 + 48.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191980.87205315 seconds. ×3 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2).[0m ×2 + 48.91sWARNcontroller_managerOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us + 48.91sWARNros2_control_nodeOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us[0m ×2 + 49.04sINFOobjective_server_nodeFound path in 0 iterations (2.6401e-05 s). ×2 + 49.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7).[0m ×2 + 50.25sWARNcontroller_managerOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us + 50.25sWARNros2_control_nodeOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 183 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 0.52sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847421 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847421 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun might occur, Total time : 2053.000 us (Expected < 1666.667 us) --> Read time : 134.393 us, Update time : 63.352 us, Write time : 1855.255 us + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683454 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun might occur, Total time : 2053.000 us (Expected < 1666.667 us) --> Read time : 134.393 us, Update time : 63.352 us, Write time : 1855.255 us[0m ×2 + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683454 ms (missed cycles : 2).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.92sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781192045.77433753 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.422409 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.422409 ms (missed cycles : 7).[0m ×2 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931800 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931800 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1773.453 us (Expected < 1666.667 us) --> Read time : 143.533 us, Update time : 135.844 us, Write time : 1494.076 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1773.453 us (Expected < 1666.667 us) --> Read time : 143.533 us, Update time : 135.844 us, Write time : 1494.076 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781192047.32450867 seconds. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (1.16e-06 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145100 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145100 ms (missed cycles : 5).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 5927.254 us (Expected < 1666.667 us) --> Read time : 158.853 us, Update time : 126.494 us, Write time : 5641.907 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 5927.254 us (Expected < 1666.667 us) --> Read time : 158.853 us, Update time : 126.494 us, Write time : 5641.907 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441227 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441227 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sWARNcontroller_managerOverrun might occur, Total time : 2647.885 us (Expected < 1666.667 us) --> Read time : 179.095 us, Update time : 2112.121 us, Write time : 356.669 us + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 2647.885 us (Expected < 1666.667 us) --> Read time : 179.095 us, Update time : 2112.121 us, Write time : 356.669 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393817 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393817 ms (missed cycles : 2).[0m ×2 + 7.87sWARNcontroller_managerOverrun might occur, Total time : 2809.449 us (Expected < 1666.667 us) --> Read time : 186.904 us, Update time : 107.893 us, Write time : 2514.652 us + 7.87sWARNros2_control_nodeOverrun might occur, Total time : 2809.449 us (Expected < 1666.667 us) --> Read time : 186.904 us, Update time : 107.893 us, Write time : 2514.652 us[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927528 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927528 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711994 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711994 ms (missed cycles : 3).[0m ×2 + 9.96sWARNcontroller_managerOverrun might occur, Total time : 1819.655 us (Expected < 1666.667 us) --> Read time : 1301.122 us, Update time : 158.954 us, Write time : 359.579 us + 9.96sWARNros2_control_nodeOverrun might occur, Total time : 1819.655 us (Expected < 1666.667 us) --> Read time : 1301.122 us, Update time : 158.954 us, Write time : 359.579 us[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869316 ms (missed cycles : 6). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869316 ms (missed cycles : 6).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258255 ms (missed cycles : 5). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258255 ms (missed cycles : 5).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773144 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773144 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767473 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767473 ms (missed cycles : 3).[0m ×2 + 13.46sWARNcontroller_managerOverrun might occur, Total time : 2330.226 us (Expected < 1666.667 us) --> Read time : 144.713 us, Update time : 1835.805 us, Write time : 349.708 us + 13.46sWARNros2_control_nodeOverrun might occur, Total time : 2330.226 us (Expected < 1666.667 us) --> Read time : 144.713 us, Update time : 1835.805 us, Write time : 349.708 us[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761720 ms (missed cycles : 4). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761720 ms (missed cycles : 4).[0m ×2 + 14.77sINFOros2_control_nodeMuJoCo sim: 0.84% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942234 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942234 ms (missed cycles : 3).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.838072 ms (missed cycles : 6). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.838072 ms (missed cycles : 6).[0m ×2 + 16.59sWARNcontroller_managerOverrun might occur, Total time : 1946.128 us (Expected < 1666.667 us) --> Read time : 129.044 us, Update time : 1563.968 us, Write time : 253.116 us + 16.60sWARNros2_control_nodeOverrun might occur, Total time : 1946.128 us (Expected < 1666.667 us) --> Read time : 129.044 us, Update time : 1563.968 us, Write time : 253.116 us[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743136 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743136 ms (missed cycles : 2).[0m ×2 + 18.14sWARNcontroller_managerOverrun might occur, Total time : 6464.718 us (Expected < 1666.667 us) --> Read time : 195.774 us, Update time : 5955.076 us, Write time : 313.868 us + 18.15sWARNros2_control_nodeOverrun might occur, Total time : 6464.718 us (Expected < 1666.667 us) --> Read time : 195.774 us, Update time : 5955.076 us, Write time : 313.868 us[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823076 ms (missed cycles : 3). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823076 ms (missed cycles : 3).[0m ×2 + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934185 ms (missed cycles : 3). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934185 ms (missed cycles : 3).[0m ×2 + 20.34sWARNcontroller_managerOverrun might occur, Total time : 3014.763 us (Expected < 1666.667 us) --> Read time : 167.644 us, Update time : 2481.060 us, Write time : 366.059 us + 20.34sWARNros2_control_nodeOverrun might occur, Total time : 3014.763 us (Expected < 1666.667 us) --> Read time : 167.644 us, Update time : 2481.060 us, Write time : 366.059 us[0m ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189888 ms (missed cycles : 2). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189888 ms (missed cycles : 2).[0m ×2 + 21.37sWARNcontroller_managerOverrun might occur, Total time : 1778.994 us (Expected < 1666.667 us) --> Read time : 159.144 us, Update time : 1042.105 us, Write time : 577.745 us + 21.38sWARNros2_control_nodeOverrun might occur, Total time : 1778.994 us (Expected < 1666.667 us) --> Read time : 159.144 us, Update time : 1042.105 us, Write time : 577.745 us[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212381 ms (missed cycles : 2). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212381 ms (missed cycles : 2).[0m ×2 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162387 ms (missed cycles : 4). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162387 ms (missed cycles : 4).[0m ×2 + 23.15sWARNcontroller_managerOverrun might occur, Total time : 2515.161 us (Expected < 1666.667 us) --> Read time : 250.376 us, Update time : 1848.185 us, Write time : 416.600 us + 23.16sWARNros2_control_nodeOverrun might occur, Total time : 2515.161 us (Expected < 1666.667 us) --> Read time : 250.376 us, Update time : 1848.185 us, Write time : 416.600 us[0m ×2 + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813495 ms (missed cycles : 3). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813495 ms (missed cycles : 3).[0m ×2 + 24.85sWARNcontroller_managerOverrun might occur, Total time : 2957.512 us (Expected < 1666.667 us) --> Read time : 2334.327 us, Update time : 143.373 us, Write time : 479.812 us + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247479 ms (missed cycles : 2). + 24.86sWARNros2_control_nodeOverrun might occur, Total time : 2957.512 us (Expected < 1666.667 us) --> Read time : 2334.327 us, Update time : 143.373 us, Write time : 479.812 us[0m ×2 + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247479 ms (missed cycles : 2).[0m ×2 + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058009 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058009 ms (missed cycles : 2).[0m ×2 + 26.02sWARNcontroller_managerOverrun might occur, Total time : 1788.584 us (Expected < 1666.667 us) --> Read time : 149.744 us, Update time : 1303.262 us, Write time : 335.578 us + 26.02sWARNros2_control_nodeOverrun might occur, Total time : 1788.584 us (Expected < 1666.667 us) --> Read time : 149.744 us, Update time : 1303.262 us, Write time : 335.578 us[0m ×2 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816511 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816511 ms (missed cycles : 3).[0m ×2 + 27.10sWARNcontroller_managerOverrun might occur, Total time : 2270.416 us (Expected < 1666.667 us) --> Read time : 152.074 us, Update time : 727.318 us, Write time : 1391.024 us + 27.11sWARNros2_control_nodeOverrun might occur, Total time : 2270.416 us (Expected < 1666.667 us) --> Read time : 152.074 us, Update time : 727.318 us, Write time : 1391.024 us[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608405 ms (missed cycles : 4). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608405 ms (missed cycles : 4).[0m ×2 + 28.74sWARNcontroller_managerOverrun might occur, Total time : 1711.421 us (Expected < 1666.667 us) --> Read time : 120.043 us, Update time : 640.515 us, Write time : 950.863 us + 28.74sWARNros2_control_nodeOverrun might occur, Total time : 1711.421 us (Expected < 1666.667 us) --> Read time : 120.043 us, Update time : 640.515 us, Write time : 950.863 us[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718929 ms (missed cycles : 2). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718929 ms (missed cycles : 2).[0m ×2 + 29.82sWARNcontroller_managerOverrun might occur, Total time : 5080.824 us (Expected < 1666.667 us) --> Read time : 173.054 us, Update time : 146.514 us, Write time : 4761.256 us + 29.83sWARNros2_control_nodeOverrun might occur, Total time : 5080.824 us (Expected < 1666.667 us) --> Read time : 173.054 us, Update time : 146.514 us, Write time : 4761.256 us[0m ×2 + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797957 ms (missed cycles : 3). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797957 ms (missed cycles : 3).[0m ×2 + 30.90sWARNcontroller_managerOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us + 30.90sWARNros2_control_nodeOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us[0m ×2 + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2).[0m ×2 + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5).[0m ×2 + 32.64sWARNcontroller_managerOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us + 32.64sWARNros2_control_nodeOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us[0m ×2 + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2).[0m ×2 + 33.68sWARNcontroller_managerOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us + 33.69sWARNros2_control_nodeOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2).[0m ×2 + 34.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.60468626 seconds ×3 + 34.91sWARNcontroller_managerOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us + 34.92sWARNros2_control_nodeOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6).[0m ×2 + 35.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.15772390 seconds. ×3 + 35.64sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 36.12sWARNcontroller_managerOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us + 36.12sWARNros2_control_nodeOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2).[0m ×2 + 36.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3).[0m ×2 + 37.26sWARNcontroller_managerOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us + 37.26sWARNros2_control_nodeOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.4s | 74 errors · 60 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6).[0m ×2 + 0.38sWARNcontroller_managerOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192283.07158422 seconds ×3 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sWARNcontroller_managerOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us + 2.52sWARNros2_control_nodeOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192283.65945339 seconds. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192284.18960381 seconds ×3 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192284.73069286 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192285.21085095 seconds ×3 + 4.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 2507.031 us (Expected < 1666.667 us) --> Read time : 1944.578 us, Update time : 149.703 us, Write time : 412.750 us + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089736 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 2507.031 us (Expected < 1666.667 us) --> Read time : 1944.578 us, Update time : 149.703 us, Write time : 412.750 us[0m ×2 + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089736 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun might occur, Total time : 1758.923 us (Expected < 1666.667 us) --> Read time : 247.356 us, Update time : 1032.125 us, Write time : 479.442 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 1758.923 us (Expected < 1666.667 us) --> Read time : 247.356 us, Update time : 1032.125 us, Write time : 479.442 us[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297986 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297986 ms (missed cycles : 3).[0m ×2 + 7.13sWARNcontroller_managerOverrun might occur, Total time : 1716.472 us (Expected < 1666.667 us) --> Read time : 776.019 us, Update time : 139.813 us, Write time : 800.640 us + 7.14sWARNros2_control_nodeOverrun might occur, Total time : 1716.472 us (Expected < 1666.667 us) --> Read time : 776.019 us, Update time : 139.813 us, Write time : 800.640 us[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906461 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906461 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354920 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354920 ms (missed cycles : 5).[0m ×2 + 8.63sWARNcontroller_managerOverrun might occur, Total time : 1987.398 us (Expected < 1666.667 us) --> Read time : 308.727 us, Update time : 403.930 us, Write time : 1274.741 us + 8.64sWARNros2_control_nodeOverrun might occur, Total time : 1987.398 us (Expected < 1666.667 us) --> Read time : 308.727 us, Update time : 403.930 us, Write time : 1274.741 us[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314685 ms (missed cycles : 4). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314685 ms (missed cycles : 4).[0m ×2 + 9.86sWARNcontroller_managerOverrun might occur, Total time : 2620.965 us (Expected < 1666.667 us) --> Read time : 156.594 us, Update time : 2140.183 us, Write time : 324.188 us + 9.86sWARNros2_control_nodeOverrun might occur, Total time : 2620.965 us (Expected < 1666.667 us) --> Read time : 156.594 us, Update time : 2140.183 us, Write time : 324.188 us[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556620 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556620 ms (missed cycles : 4).[0m ×2 + 10.72sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.76sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.79sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.85sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.87sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.88sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.90sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.92sWARNcontroller_managerOverrun might occur, Total time : 1670.061 us (Expected < 1666.667 us) --> Read time : 169.654 us, Update time : 115.933 us, Write time : 1384.474 us + 10.92sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.94sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.96sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.00sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.02sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.03sINFOweb_video_server-31process has finished cleanly [pid 9934] ×2 + 11.05sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.05sINFOcontroller_managerShutdown request received.... + 11.05sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.05sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.05sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.05sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.05sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.05sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.05sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.05sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.05sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.05sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.05sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.05sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.05sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.05sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down the controller manager. + 11.05sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9933] ×2 + 11.07sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.09sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.09sERRORmove_group-20process has died [pid 9860, 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_ogqqamcm --params-file /tmp/launch_params_wbo1nr6i --params-file /tmp/launch_params_7f19snyk --params-file /tmp/launch_params_9co4t7um --params-file /tmp/launch_params_9khl8clz --params-file /tmp/launch_params_u7adyw9n --params-file /tmp/launch_params_h6qezd4y --params-file /tmp/launch_params_9gnodlw5 --params-file /tmp/launch_params_9dn2hh5j']. ×2 + 11.11sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.13sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.15sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.17sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.18sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.19sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.19sINFOcontroller_serverCleaning up + 11.19sINFOlocal_costmap.local_costmapCleaning up + 11.19sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.19sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.19sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.19sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.19sINFOui_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 + 11.19sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.19sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.19sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.19sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.19sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.19sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.19sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.19sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.19sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sWARNros2_control_nodeOverrun might occur, Total time : 1670.061 us (Expected < 1666.667 us) --> Read time : 169.654 us, Update time : 115.933 us, Write time : 1384.474 us[0m ×2 + 11.19sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.19sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.20sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.20sERRORmove_groupStack trace (most recent call last) in thread 10423: ×2 + 11.20sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.20sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa91433ba63, in __clone ×2 + 11.20sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9142aeaa3, in ×2 + 11.20sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa914540db3, in ×2 + 11.20sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7fa914b9519a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.20sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9148b34d0, in rclcpp::Rate::sleep() ×2 + 11.20sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa914806a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.20sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9147cba71, in ×2 + 11.20sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa91450f390, in __cxa_throw ×2 + 11.20sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa9144f9a54, in std::terminate() ×2 + 11.20sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa91450f0d9, in ×2 + 11.20sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa9144f9ff4, in ×2 + 11.20sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa91423a8fe, in abort ×2 + 11.20sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa91425727d, in raise ×2 + 11.20sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9142b0b2c, in pthread_kill ×2 + 11.20sERRORmove_groupAborted (Signal sent by tkill() 9860 0) ×2 + 11.20sERRORobjective_server_node_main-25process has died [pid 9927, 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_5ct6y527 --params-file /tmp/launch_params_l4o572v5 --params-file /tmp/launch_params_x70obbo1 --params-file /tmp/launch_params_d4qysub8 --params-file /tmp/launch_params_kwiq3mei --params-file /tmp/launch_params_1r8u7emn']. ×2 + 11.20sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.20sINFOobjective_server_node[2026-06-11 15:38:11.812] [moveit_pro_license] [info] ×2 + 11.20sINFOobjective_server_node************************************************* ×4 + 11.20sINFOobjective_server_node* MoveIt Pro License ×2 + 11.20sINFOobjective_server_node* Application has successfully terminated ×2 + 11.20sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.20sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.20sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.20sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.21sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.21sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557198c2c6a4, in _start ×2 + 11.21sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f107b04b28a, in __libc_start_main ×2 + 11.21sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f107b04b1d0, in ×2 + 11.21sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f107b068bbd, in exit ×2 + 11.21sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f107b068a75, in ×2 + 11.21sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f107b53a4a2, in spdlog::details::registry::~registry() ×2 + 11.21sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f107b54569d, 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 + 11.21sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f107b53f965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.21sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557198c33315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.21sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557198c325a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.21sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557198c2eb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.21sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557198c2cd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.21sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f107bbcb454, in rclcpp::Node::~Node() ×2 + 11.21sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f107bb86515, in ×2 + 11.21sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f107bbc9d20, in ×2 + 11.21sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f107bbc9c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.21sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f107bb865d9, in ×2 + 11.21sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f107bb8b161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.21sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f1031d19450]) ×2 + 11.21sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.21sINFOodom_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 + 11.21sINFOodom_qos_relay.pymain() ×2 + 11.21sINFOodom_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 + 11.21sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.21sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.21sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.21sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.21sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.21sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.21sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.21sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.21sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.21sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 11.21sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.22sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.23sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.23sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.23sINFOmap_serverDeactivating + 11.23sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.24sINFOmap_serverCleaning up + 11.24sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.24sINFOsmoother_serverCleaning up + 11.25sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.25sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.25sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.27sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.27sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.27sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.27sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.27sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.27sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.27sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.27sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.27sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.27sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.27sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.27sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.27sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.27sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.98sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9925] ×2 + 11.98sERRORui_teleop_bridge-28process has died [pid 9930, 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_cr0yijfg']. ×2 + 11.98sINFOexecute_objective_bridge-27process has finished cleanly [pid 9929] ×2 + 11.99sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9865] ×2 + 12.06sINFOparameter_manager_node-21process has finished cleanly [pid 9862] ×2 + 12.08sINFOwaypoint_manager_node-22process has finished cleanly [pid 9864] ×2 + 12.12sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9761] ×2 + 12.14sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9760] ×2 + 12.17sINFOstatic_transform_publisher-4process has finished cleanly [pid 9758] ×2 + 12.18sINFOcomponent_container_mt-26process has finished cleanly [pid 9928] ×2 + 12.19sINFOstatic_transform_publisher-3process has finished cleanly [pid 9757] ×2 + 12.21sINFOstatic_transform_publisher-2process has finished cleanly [pid 9756] ×2 + 12.21sERRORodom_qos_relay.py-5process has died [pid 9759, 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 + 13.47sINFOweb_bridge-29process has finished cleanly [pid 9932] ×2 + 13.47sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.87sINFOros2_control_node-8process has finished cleanly [pid 9762] ×2 + 15.72sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.74sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 15.74sERRORcomponent_container_isolated-1process has died [pid 9755, 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_svqgnasy --params-file /tmp/launch_params_hyoa7a7q -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 | 12.8s | 94 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715817 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715817 ms (missed cycles : 4).[0m ×2 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 5170.676 us (Expected < 1666.667 us) --> Read time : 102.033 us, Update time : 4664.703 us, Write time : 403.940 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 5170.676 us (Expected < 1666.667 us) --> Read time : 102.033 us, Update time : 4664.703 us, Write time : 403.940 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017425 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017425 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779039 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779039 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2912.692 us (Expected < 1666.667 us) --> Read time : 132.504 us, Update time : 2444.810 us, Write time : 335.378 us + 2.21sWARNros2_control_nodeOverrun might occur, Total time : 2912.692 us (Expected < 1666.667 us) --> Read time : 132.504 us, Update time : 2444.810 us, Write time : 335.378 us[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530188 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530188 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781192270.25150919 seconds ×3 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.46sWARNcontroller_managerOverrun might occur, Total time : 3092.815 us (Expected < 1666.667 us) --> Read time : 114.943 us, Update time : 259.566 us, Write time : 2718.306 us + 3.46sWARNros2_control_nodeOverrun might occur, Total time : 3092.815 us (Expected < 1666.667 us) --> Read time : 114.943 us, Update time : 259.566 us, Write time : 2718.306 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781192270.80279684 seconds. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 4.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.374939 ms (missed cycles : 7). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.374939 ms (missed cycles : 7).[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 3225.069 us (Expected < 1666.667 us) --> Read time : 118.903 us, Update time : 2666.065 us, Write time : 440.101 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 3225.069 us (Expected < 1666.667 us) --> Read time : 118.903 us, Update time : 2666.065 us, Write time : 440.101 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338933 ms (missed cycles : 6). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338933 ms (missed cycles : 6).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538700 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538700 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun might occur, Total time : 4326.996 us (Expected < 1666.667 us) --> Read time : 156.374 us, Update time : 3687.371 us, Write time : 483.251 us + 6.62sWARNros2_control_nodeOverrun might occur, Total time : 4326.996 us (Expected < 1666.667 us) --> Read time : 156.374 us, Update time : 3687.371 us, Write time : 483.251 us[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047208 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047208 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun might occur, Total time : 2559.482 us (Expected < 1666.667 us) --> Read time : 166.084 us, Update time : 1997.729 us, Write time : 395.669 us + 7.88sWARNros2_control_nodeOverrun might occur, Total time : 2559.482 us (Expected < 1666.667 us) --> Read time : 166.084 us, Update time : 1997.729 us, Write time : 395.669 us[0m ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (1.13e-06 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795906 ms (missed cycles : 6). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795906 ms (missed cycles : 6).[0m ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (1.38e-06 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.95sINFOobjective_server_nodeFound path in 69 iterations (0.0527861 s). ×2 + 8.98sWARNcontroller_managerOverrun might occur, Total time : 2146.652 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 1639.620 us, Write time : 348.668 us + 8.98sWARNros2_control_nodeOverrun might occur, Total time : 2146.652 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 1639.620 us, Write time : 348.668 us[0m ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.22sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178914 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178914 ms (missed cycles : 2).[0m ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.62sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 9.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.97sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.36sWARNcontroller_managerOverrun might occur, Total time : 3316.361 us (Expected < 1666.667 us) --> Read time : 134.664 us, Update time : 2798.148 us, Write time : 383.549 us + 10.37sWARNros2_control_nodeOverrun might occur, Total time : 3316.361 us (Expected < 1666.667 us) --> Read time : 134.664 us, Update time : 2798.148 us, Write time : 383.549 us[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.542842 ms (missed cycles : 7). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.542842 ms (missed cycles : 7).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072199 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072199 ms (missed cycles : 3).[0m ×2 + 11.60sWARNcontroller_managerOverrun might occur, Total time : 2859.770 us (Expected < 1666.667 us) --> Read time : 133.043 us, Update time : 2402.419 us, Write time : 324.308 us + 11.60sWARNros2_control_nodeOverrun might occur, Total time : 2859.770 us (Expected < 1666.667 us) --> Read time : 133.043 us, Update time : 2402.419 us, Write time : 324.308 us[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970349 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970349 ms (missed cycles : 2).[0m ×2 + 12.87sWARNcontroller_managerOverrun might occur, Total time : 5403.013 us (Expected < 1666.667 us) --> Read time : 173.965 us, Update time : 4875.859 us, Write time : 353.189 us + 12.87sWARNros2_control_nodeOverrun might occur, Total time : 5403.013 us (Expected < 1666.667 us) --> Read time : 173.965 us, Update time : 4875.859 us, Write time : 353.189 us[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6).[0m ×2 + 14.05sWARNcontroller_managerOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us + 14.05sWARNros2_control_nodeOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6).[0m ×2 + 15.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192283.07158422 seconds ×3 + 16.19sWARNcontroller_managerOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us + 16.19sWARNros2_control_nodeOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us[0m ×2 + 16.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192283.65945339 seconds. ×3 + 16.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.57sINFOmove_groupClearing octomap...[0m ×2 + 16.57sINFOmove_groupOctomap cleared.[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3).[0m ×2 + 17.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192284.18960381 seconds ×3 + 17.51sWARNcontroller_managerOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us + 17.51sWARNros2_control_nodeOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us[0m ×2 + 17.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192284.73069286 seconds. ×3 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6).[0m ×2 + 18.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192285.21085095 seconds ×3 + 18.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.60sWARNcontroller_managerOverrun might occur, Total time : 2507.031 us (Expected < 1666.667 us) --> Read time : 1944.578 us, Update time : 149.703 us, Write time : 412.750 us | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 93 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652946 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652946 ms (missed cycles : 3).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 3752.972 us (Expected < 1666.667 us) --> Read time : 209.075 us, Update time : 138.743 us, Write time : 3405.154 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 3752.972 us (Expected < 1666.667 us) --> Read time : 209.075 us, Update time : 138.743 us, Write time : 3405.154 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187407 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187407 ms (missed cycles : 2).[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 8179.971 us (Expected < 1666.667 us) --> Read time : 165.754 us, Update time : 118.683 us, Write time : 7895.534 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 8179.971 us (Expected < 1666.667 us) --> Read time : 165.754 us, Update time : 118.683 us, Write time : 7895.534 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198780 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198780 ms (missed cycles : 2).[0m ×2 + 2.95sWARNcontroller_managerOverrun might occur, Total time : 1834.915 us (Expected < 1666.667 us) --> Read time : 166.224 us, Update time : 678.826 us, Write time : 989.865 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1834.915 us (Expected < 1666.667 us) --> Read time : 166.224 us, Update time : 678.826 us, Write time : 989.865 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.171644 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.171644 ms (missed cycles : 8).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781192131.43837309 seconds ×3 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 2048.171 us (Expected < 1666.667 us) --> Read time : 157.464 us, Update time : 328.378 us, Write time : 1562.329 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 2048.171 us (Expected < 1666.667 us) --> Read time : 157.464 us, Update time : 328.378 us, Write time : 1562.329 us[0m ×2 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607480 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607480 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781192131.99909711 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 2972.893 us (Expected < 1666.667 us) --> Read time : 154.114 us, Update time : 1977.828 us, Write time : 840.951 us + 5.17sWARNros2_control_nodeOverrun might occur, Total time : 2972.893 us (Expected < 1666.667 us) --> Read time : 154.114 us, Update time : 1977.828 us, Write time : 840.951 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730392 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730392 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218716 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218716 ms (missed cycles : 2).[0m ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023572 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023572 ms (missed cycles : 4).[0m ×2 + 7.31sWARNcontroller_managerOverrun might occur, Total time : 2085.502 us (Expected < 1666.667 us) --> Read time : 148.314 us, Update time : 1590.779 us, Write time : 346.409 us + 7.32sWARNros2_control_nodeOverrun might occur, Total time : 2085.502 us (Expected < 1666.667 us) --> Read time : 148.314 us, Update time : 1590.779 us, Write time : 346.409 us[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367766 ms (missed cycles : 5). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367766 ms (missed cycles : 5).[0m ×2 + 8.90sWARNcontroller_managerOverrun might occur, Total time : 1825.125 us (Expected < 1666.667 us) --> Read time : 689.267 us, Update time : 233.496 us, Write time : 902.362 us + 8.90sWARNros2_control_nodeOverrun might occur, Total time : 1825.125 us (Expected < 1666.667 us) --> Read time : 689.267 us, Update time : 233.496 us, Write time : 902.362 us[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330614 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330614 ms (missed cycles : 2).[0m ×2 + 10.29sWARNcontroller_managerOverrun might occur, Total time : 8168.441 us (Expected < 1666.667 us) --> Read time : 136.814 us, Update time : 7513.044 us, Write time : 518.583 us + 10.29sWARNros2_control_nodeOverrun might occur, Total time : 8168.441 us (Expected < 1666.667 us) --> Read time : 136.814 us, Update time : 7513.044 us, Write time : 518.583 us[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220438 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220438 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795047 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795047 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun might occur, Total time : 1827.255 us (Expected < 1666.667 us) --> Read time : 168.464 us, Update time : 797.870 us, Write time : 860.921 us + 11.51sWARNros2_control_nodeOverrun might occur, Total time : 1827.255 us (Expected < 1666.667 us) --> Read time : 168.464 us, Update time : 797.870 us, Write time : 860.921 us[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975495 ms (missed cycles : 4). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975495 ms (missed cycles : 4).[0m ×2 + 12.67sWARNcontroller_managerOverrun might occur, Total time : 2186.544 us (Expected < 1666.667 us) --> Read time : 143.953 us, Update time : 1701.732 us, Write time : 340.859 us + 12.67sWARNros2_control_nodeOverrun might occur, Total time : 2186.544 us (Expected < 1666.667 us) --> Read time : 143.953 us, Update time : 1701.732 us, Write time : 340.859 us[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462854 ms (missed cycles : 4). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462854 ms (missed cycles : 4).[0m ×2 + 13.92sWARNcontroller_managerOverrun might occur, Total time : 3086.365 us (Expected < 1666.667 us) --> Read time : 101.712 us, Update time : 2618.844 us, Write time : 365.809 us + 13.92sWARNros2_control_nodeOverrun might occur, Total time : 3086.365 us (Expected < 1666.667 us) --> Read time : 101.712 us, Update time : 2618.844 us, Write time : 365.809 us[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070708 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070708 ms (missed cycles : 3).[0m ×2 + 14.95sINFOjoint_trajectory_controllerGot request to cancel goal + 14.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781192142.28807187 seconds ×3 + 15.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781192142.84018707 seconds. ×3 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325597 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325597 ms (missed cycles : 4).[0m ×2 + 15.87sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 16.52sWARNcontroller_managerOverrun might occur, Total time : 4280.135 us (Expected < 1666.667 us) --> Read time : 181.224 us, Update time : 3750.532 us, Write time : 348.379 us + 16.52sWARNros2_control_nodeOverrun might occur, Total time : 4280.135 us (Expected < 1666.667 us) --> Read time : 181.224 us, Update time : 3750.532 us, Write time : 348.379 us[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063651 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063651 ms (missed cycles : 3).[0m ×2 + 17.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476283 ms (missed cycles : 3). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476283 ms (missed cycles : 3).[0m ×2 + 17.72sWARNcontroller_managerOverrun might occur, Total time : 1681.171 us (Expected < 1666.667 us) --> Read time : 169.754 us, Update time : 594.765 us, Write time : 916.652 us + 17.73sWARNros2_control_nodeOverrun might occur, Total time : 1681.171 us (Expected < 1666.667 us) --> Read time : 169.754 us, Update time : 594.765 us, Write time : 916.652 us[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.8s | 63 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192040.92450833 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.48417997 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847421 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847421 ms (missed cycles : 3).[0m ×2 + 7.89sWARNcontroller_managerOverrun might occur, Total time : 2053.000 us (Expected < 1666.667 us) --> Read time : 134.393 us, Update time : 63.352 us, Write time : 1855.255 us + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683454 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun might occur, Total time : 2053.000 us (Expected < 1666.667 us) --> Read time : 134.393 us, Update time : 63.352 us, Write time : 1855.255 us[0m ×2 + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683454 ms (missed cycles : 2).[0m ×2 + 8.76sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781192045.77433753 seconds ×3 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.422409 ms (missed cycles : 7). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.422409 ms (missed cycles : 7).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931800 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931800 ms (missed cycles : 2).[0m ×2 + 10.08sWARNcontroller_managerOverrun might occur, Total time : 1773.453 us (Expected < 1666.667 us) --> Read time : 143.533 us, Update time : 135.844 us, Write time : 1494.076 us + 10.08sWARNros2_control_nodeOverrun might occur, Total time : 1773.453 us (Expected < 1666.667 us) --> Read time : 143.533 us, Update time : 135.844 us, Write time : 1494.076 us[0m ×2 + 10.31sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781192047.32450867 seconds. ×3 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (1.16e-06 s). ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145100 ms (missed cycles : 5). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145100 ms (missed cycles : 5).[0m ×2 + 11.18sWARNcontroller_managerOverrun might occur, Total time : 5927.254 us (Expected < 1666.667 us) --> Read time : 158.853 us, Update time : 126.494 us, Write time : 5641.907 us + 11.19sWARNros2_control_nodeOverrun might occur, Total time : 5927.254 us (Expected < 1666.667 us) --> Read time : 158.853 us, Update time : 126.494 us, Write time : 5641.907 us[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441227 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441227 ms (missed cycles : 4).[0m ×2 + 12.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 12.30sWARNcontroller_managerOverrun might occur, Total time : 2647.885 us (Expected < 1666.667 us) --> Read time : 179.095 us, Update time : 2112.121 us, Write time : 356.669 us + 12.31sWARNros2_control_nodeOverrun might occur, Total time : 2647.885 us (Expected < 1666.667 us) --> Read time : 179.095 us, Update time : 2112.121 us, Write time : 356.669 us[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.32665896 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191980.87205315 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.6401e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668939 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668939 ms (missed cycles : 4).[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781191983.95220685 seconds ×3 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 2735.978 us (Expected < 1666.667 us) --> Read time : 194.775 us, Update time : 2181.204 us, Write time : 359.999 us + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143540 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 2735.978 us (Expected < 1666.667 us) --> Read time : 194.775 us, Update time : 2181.204 us, Write time : 359.999 us[0m ×2 + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143540 ms (missed cycles : 2).[0m ×2 + 7.41sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781191984.49435472 seconds. ×3 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386055 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386055 ms (missed cycles : 3).[0m ×2 + 8.68sWARNcontroller_managerOverrun might occur, Total time : 2198.794 us (Expected < 1666.667 us) --> Read time : 255.686 us, Update time : 224.816 us, Write time : 1718.292 us + 8.68sWARNros2_control_nodeOverrun might occur, Total time : 2198.794 us (Expected < 1666.667 us) --> Read time : 255.686 us, Update time : 224.816 us, Write time : 1718.292 us[0m ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964058 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964058 ms (missed cycles : 2).[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 1.970349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970349 ms (missed cycles : 2).[0m ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 5403.013 us (Expected < 1666.667 us) --> Read time : 173.965 us, Update time : 4875.859 us, Write time : 353.189 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 5403.013 us (Expected < 1666.667 us) --> Read time : 173.965 us, Update time : 4875.859 us, Write time : 353.189 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192283.07158422 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192283.65945339 seconds. ×3 + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.98sINFOmove_groupClearing octomap...[0m ×2 + 3.98sINFOmove_groupOctomap cleared.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192284.18960381 seconds ×3 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192284.73069286 seconds. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192285.21085095 seconds ×3 + 5.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2507.031 us (Expected < 1666.667 us) --> Read time : 1944.578 us, Update time : 149.703 us, Write time : 412.750 us + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089736 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun might occur, Total time : 2507.031 us (Expected < 1666.667 us) --> Read time : 1944.578 us, Update time : 149.703 us, Write time : 412.750 us[0m ×2 + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089736 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun might occur, Total time : 1758.923 us (Expected < 1666.667 us) --> Read time : 247.356 us, Update time : 1032.125 us, Write time : 479.442 us + 7.06sWARNros2_control_nodeOverrun might occur, Total time : 1758.923 us (Expected < 1666.667 us) --> Read time : 247.356 us, Update time : 1032.125 us, Write time : 479.442 us[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 42 warnings · 2054 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 0.03sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.71sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 2.50sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 3.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 4.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.82sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192040.92450833 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.48417997 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 39 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.60468626 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.15772390 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.32665896 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191980.87205315 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.6401e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOjoint_trajectory_controllerReceived new action goal + 4.76sINFOjoint_trajectory_controllerAccepted new action goal + 4.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877538 ms (missed cycles : 2).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2476.400 us (Expected < 1666.667 us) --> Read time : 154.523 us, Update time : 1952.528 us, Write time : 369.349 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011440 ms (missed cycles : 7).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 2440.030 us (Expected < 1666.667 us) --> Read time : 178.484 us, Update time : 455.862 us, Write time : 1805.684 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232507 ms (missed cycles : 5).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.32665896 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191980.87205315 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.6401e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOjoint_trajectory_controllerReceived new action goal + 4.76sINFOjoint_trajectory_controllerAccepted new action goal + 4.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1989.128 us (Expected < 1666.667 us) --> Read time : 127.793 us, Update time : 131.793 us, Write time : 1729.542 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387101 ms (missed cycles : 4).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.32sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.32665896 seconds ×3 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191980.87205315 seconds. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929853 ms (missed cycles : 2).[0m ×2 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us + 1.73sWARNros2_control_nodeOverrun might occur, Total time : 2160.613 us (Expected < 1666.667 us) --> Read time : 239.906 us, Update time : 158.714 us, Write time : 1761.993 us[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (2.6401e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778798 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 4297.894 us (Expected < 1666.667 us) --> Read time : 138.793 us, Update time : 3730.871 us, Write time : 428.230 us[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668939 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668939 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781191983.95220685 seconds ×3 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 2735.978 us (Expected < 1666.667 us) --> Read time : 194.775 us, Update time : 2181.204 us, Write time : 359.999 us + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143540 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 2735.978 us (Expected < 1666.667 us) --> Read time : 194.775 us, Update time : 2181.204 us, Write time : 359.999 us[0m ×2 + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143540 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781191984.49435472 seconds. ×3 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386055 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386055 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 2198.794 us (Expected < 1666.667 us) --> Read time : 255.686 us, Update time : 224.816 us, Write time : 1718.292 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 2198.794 us (Expected < 1666.667 us) --> Read time : 255.686 us, Update time : 224.816 us, Write time : 1718.292 us[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964058 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964058 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192040.92450833 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.48417997 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 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 might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192040.92450833 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.48417997 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192040.92450833 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.48417997 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 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 might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3054.755 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 2553.592 us, Write time : 364.079 us[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665714 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2210.124 us (Expected < 1666.667 us) --> Read time : 136.673 us, Update time : 1728.142 us, Write time : 345.309 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872904 ms (missed cycles : 2).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922177 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2430.979 us (Expected < 1666.667 us) --> Read time : 1012.834 us, Update time : 945.853 us, Write time : 472.292 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697265 ms (missed cycles : 5).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192040.92450833 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 2459.189 us (Expected < 1666.667 us) --> Read time : 165.854 us, Update time : 1928.757 us, Write time : 364.578 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.48417997 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736852 ms (missed cycles : 6).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479114 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2068.131 us (Expected < 1666.667 us) --> Read time : 254.206 us, Update time : 170.994 us, Write time : 1642.931 us[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 39 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.60468626 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.15772390 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 39 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4244.384 us (Expected < 1666.667 us) --> Read time : 140.933 us, Update time : 3689.851 us, Write time : 413.600 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100814 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623029 ms (missed cycles : 5).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2619.544 us (Expected < 1666.667 us) --> Read time : 125.654 us, Update time : 2086.010 us, Write time : 407.880 us[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839849 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 2656.455 us (Expected < 1666.667 us) --> Read time : 133.383 us, Update time : 189.765 us, Write time : 2333.307 us[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295518 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.60468626 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 1727.992 us (Expected < 1666.667 us) --> Read time : 158.763 us, Update time : 373.500 us, Write time : 1195.729 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.968702 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.15772390 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2178.723 us (Expected < 1666.667 us) --> Read time : 676.096 us, Update time : 104.113 us, Write time : 1398.514 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006140 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374533 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2071.011 us (Expected < 1666.667 us) --> Read time : 147.904 us, Update time : 562.934 us, Write time : 1360.173 us[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 42 warnings · 2054 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 0.03sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.71sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 2.50sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 3.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 4.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.82sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 42 warnings · 2054 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 0.03sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.71sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 2.50sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 3.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 4.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.82sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 42 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660290 ms (missed cycles : 4).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3596.139 us (Expected < 1666.667 us) --> Read time : 145.574 us, Update time : 3058.185 us, Write time : 392.380 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036690 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 1787.284 us (Expected < 1666.667 us) --> Read time : 165.744 us, Update time : 464.061 us, Write time : 1157.479 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528815 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 2877.510 us (Expected < 1666.667 us) --> Read time : 662.056 us, Update time : 673.106 us, Write time : 1542.348 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081371 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2322.197 us (Expected < 1666.667 us) --> Read time : 529.523 us, Update time : 214.856 us, Write time : 1577.818 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192214.46035099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989772 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192215.02133226 seconds. ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1940.508 us (Expected < 1666.667 us) --> Read time : 189.565 us, Update time : 145.343 us, Write time : 1605.600 us[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626775 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 2359.808 us (Expected < 1666.667 us) --> Read time : 499.953 us, Update time : 475.771 us, Write time : 1384.084 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929279 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2476.351 us (Expected < 1666.667 us) --> Read time : 175.074 us, Update time : 114.863 us, Write time : 2186.414 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 1.970349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970349 ms (missed cycles : 2).[0m ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 5403.013 us (Expected < 1666.667 us) --> Read time : 173.965 us, Update time : 4875.859 us, Write time : 353.189 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 5403.013 us (Expected < 1666.667 us) --> Read time : 173.965 us, Update time : 4875.859 us, Write time : 353.189 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914744 ms (missed cycles : 6).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 1798.954 us (Expected < 1666.667 us) --> Read time : 325.878 us, Update time : 1104.097 us, Write time : 368.979 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876209 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384909 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192283.07158422 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2518.272 us (Expected < 1666.667 us) --> Read time : 155.104 us, Update time : 2025.190 us, Write time : 337.978 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192283.65945339 seconds. ×3 + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.98sINFOmove_groupClearing octomap...[0m ×2 + 3.98sINFOmove_groupOctomap cleared.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664926 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192284.18960381 seconds ×3 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 3115.527 us (Expected < 1666.667 us) --> Read time : 137.924 us, Update time : 2622.904 us, Write time : 354.699 us[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192284.73069286 seconds. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998269 ms (missed cycles : 6).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192285.21085095 seconds ×3 + 5.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2507.031 us (Expected < 1666.667 us) --> Read time : 1944.578 us, Update time : 149.703 us, Write time : 412.750 us | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 23.8s | 11 errors · 101 warnings · 4749 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/2026-06-11-15-31-51-055514-1f75affd4e86-9706 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 10.15sINFOstatic_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' + 10.15sINFOstatic_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' + 10.15sINFOstatic_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' + 10.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 10.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.26sINFOcontroller_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. + 10.26sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.29sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.30sINFOcontroller_managerupdate rate is 600 Hz + 10.30sINFOcontroller_managerOverruns handling is : enabled + 10.30sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.30sWARNcontroller_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. + 10.34sINFOcontroller_serverCreating controller server + 10.37sINFOlocal_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. + 10.37sINFOlocal_costmap.local_costmapCreating Costmap + 10.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 10.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 10.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 10.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 10.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700536 ms (missed cycles : 2). + 10.45sINFOmap_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. + 10.45sINFOmap_serverCreating + 10.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 10.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 10.47sINFOros2_control_node-8process started with pid [9762] ×2 + 10.47sINFOmove_group-20process started with pid [9860] ×2 + 10.47sINFOparameter_manager_node-21process started with pid [9862] ×2 + 10.47sINFOwaypoint_manager_node-22process started with pid [9864] ×2 + 10.47sINFOmove_joint_resampler_node-23process started with pid [9865] ×2 + 10.47sINFOmove_end_effector_resampler_node-24process started with pid [9925] ×2 + 10.47sINFOobjective_server_node_main-25process started with pid [9927] ×2 + 10.47sINFOcomponent_container_mt-26process started with pid [9928] ×2 + 10.47sINFOexecute_objective_bridge-27process started with pid [9929] ×2 + 10.47sINFOui_teleop_bridge-28process started with pid [9930] ×2 + 10.47sINFOweb_bridge-29process started with pid [9932] ×2 + 10.47sINFOtf2_web_republisher_node-30process started with pid [9933] ×2 + 10.47sINFOweb_video_server-31process started with pid [9934] ×2 + 10.48sINFOsmoother_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. + 10.49sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 10.49sINFOcomponent_container_isolated-1process started with pid [9755] ×2 + 10.50sINFOstatic_transform_publisher-2process started with pid [9756] ×2 + 10.50sINFOstatic_transform_publisher-3process started with pid [9757] ×2 + 10.50sINFOstatic_transform_publisher-4process started with pid [9758] ×2 + 10.50sINFOodom_qos_relay.py-5process started with pid [9759] ×2 + 10.50sINFOscan_to_scan_filter_chain-6process started with pid [9760] ×2 + 10.50sINFOscan_to_scan_filter_chain-7process started with pid [9761] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9840] ×2 + 10.50sINFOsmoother_serverCreating smoother server + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9841] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9842] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9844] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9846] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9848] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9850] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9852] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9854] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9856] ×2 + 10.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9858] ×2 + 10.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 10.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 10.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.54sINFOlifecycle_manager_localizationCreating + 10.57sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 10.57sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 10.57sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 10.57sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 10.57sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 10.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 10.57sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 10.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 10.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 10.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 10.58sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 10.58sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 10.58sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 10.58sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 10.58sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 10.58sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 10.58sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 10.58sINFOmap_serverConfiguring + 10.59sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 10.59sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 10.59sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700536 ms (missed cycles : 2).[0m ×2 + 10.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 10.61sINFOplanner_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. + 10.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 10.63sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 10.63sINFOmap_serverActivating + 10.63sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 10.64sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 10.64sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 10.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.66sINFOplanner_serverCreating + 10.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.70sINFOglobal_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. + 10.70sINFOglobal_costmap.global_costmapCreating Costmap + 10.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 10.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 10.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 10.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 10.74sINFOlifecycle_manager_localizationServer map_server connected with bond. + 10.74sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 10.74sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 10.77sINFOcontroller_managerReceived robot description from topic. + 10.77sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 10.77sINFObehavior_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. + 10.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 10.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 10.77sINFOrobot_state_publisherRobot initialized + 10.78sINFOcomponent_container_mtRobot initialized[0m ×2 + 10.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 10.79sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 10.80sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 10.81sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 10.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 10.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 10.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 10.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 10.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 10.89sINFObt_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. + 10.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 10.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 10.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.92sINFObt_navigatorCreating + 10.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 10.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 10.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 10.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 10.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 10.95sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 10.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 10.99sINFOwaypoint_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. + 11.01sINFOwaypoint_followerCreating + 11.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.07sINFOvelocity_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. + 11.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 11.12sINFOlifecycle_manager_navigationCreating + 11.13sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.16sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.16sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.17sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 11.17sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 11.17sINFOcontroller_serverConfiguring controller interface + 11.17sINFOcontroller_servergetting progress checker plugins.. + 11.17sWARNlaser_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. + 11.17sWARNlaser_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. + 11.17sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 11.17sINFOcontroller_servergetting goal checker plugins.. + 11.17sINFOcontroller_serverController frequency set to 20.0000Hz + 11.17sINFOlocal_costmap.local_costmapConfiguring + 11.19sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 11.21sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 11.28sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 11.28sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 11.29sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 11.33sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 11.33sINFOcontroller_serverController Server has progress_checker progress checkers available. + 11.33sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 11.34sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 11.34sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 11.35sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.35sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.35sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.36sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 11.37sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.567514 seconds + 11.37sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.37sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.38sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 11.38sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 11.39sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 11.39sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 11.39sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 11.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 11.39sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 11.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 11.40sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 11.40sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 11.41sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 11.42sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 11.42sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 11.42sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 11.42sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 11.42sINFOcontroller_serverOptimizer reset + 11.43sINFOcontroller_serverController Server has FollowPath controllers available. + 11.44sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 11.44sINFOsmoother_serverConfiguring smoother server + 11.45sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.46sINFOmove_groupLoaded robot model in 0.567514 seconds[0m ×2 + 11.46sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.46sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.46sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 11.46sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 11.48sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 11.48sINFOplanner_serverConfiguring + 11.48sINFOglobal_costmap.global_costmapConfiguring + 11.50sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 11.51sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 11.51sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 11.51sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 11.53sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.038294 ms (missed cycles : 5). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.038294 ms (missed cycles : 5).[0m ×2 + 11.57sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 11.57sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 11.58sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 11.61sFATALplanner_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 + 11.61sINFOplanner_serverCleaning up + 11.61sINFOglobal_costmap.global_costmapCleaning up + 11.61sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 11.99sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.00sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.01sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.01sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 12.01sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.09sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 12.10sINFOwaypoint_manager_nodeLoaded robot model in 0.407321 seconds[0m ×2 + 12.10sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 12.10sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.45sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 12.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.69sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 12.70sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 12.70sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 12.70sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 12.76sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 12.76sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 12.76sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 12.76sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 12.76sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 12.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 12.76sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 12.76sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 12.76sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.76sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 12.76sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 12.76sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 12.76sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 12.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 12.76sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 12.76sINFOmove_groupStarting planning scene monitor[0m ×2 + 12.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 12.77sINFOmove_groupListening to '/planning_scene'[0m ×2 + 12.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 12.77sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 12.77sINFOmove_groupListening to 'collision_object'[0m ×2 + 12.77sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 13.05sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 13.05sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 13.33sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 13.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 13.33sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 13.33sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 13.33sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 13.33sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 13.33sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 13.33sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 13.33sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 13.33sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 13.33sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 13.33sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 13.33sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 13.33sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 13.33sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 13.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 13.34sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 13.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 13.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 13.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 13.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 13.34sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 13.34sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 13.36sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 13.36sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 13.36sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 13.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 13.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 13.49sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 13.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 13.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.50sINFOforce_torque_sensor_broadcasterconfigure successful + 13.51sINFOros2_control_nodeconfigure successful[0m ×6 + 13.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 13.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 13.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 13.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 13.69sINFOobjective_server_node[2026-06-11 15:32:07.933] [moveit_pro_license] [info] ×2 + 13.69sINFOobjective_server_node************************************************* ×4 + 13.69sINFOobjective_server_node* MoveIt Pro License ×2 + 13.69sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 13.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 13.81sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935951 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935951 ms (missed cycles : 2).[0m ×2 + 13.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 13.84sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 13.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 13.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9840] ×2 + 13.85sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 13.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 14.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 14.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 14.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 14.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 14.02sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 14.05sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 14.05sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 14.05sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 14.08sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 14.08sINFOobjective_server_nodeLoaded robot model in 0.337372 seconds[0m ×2 + 14.08sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 14.08sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.11sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 14.11sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 14.11sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 14.11sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 14.11sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 14.11sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 14.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 14.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 14.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 14.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 14.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 14.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 14.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 14.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 14.22sWARNcontroller_managerOverrun might occur, Total time : 2287.846 us (Expected < 1666.667 us) --> Read time : 464.791 us, Update time : 188.115 us, Write time : 1634.940 us + 14.22sWARNros2_control_nodeOverrun might occur, Total time : 2287.846 us (Expected < 1666.667 us) --> Read time : 464.791 us, Update time : 188.115 us, Write time : 1634.940 us[0m ×2 + 14.43sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 14.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 14.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 14.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 14.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 14.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 14.49sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 14.49sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 14.49sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 14.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9841] ×2 + 14.51sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 14.52sINFOcomponent_container_mtLoaded robot model in 0.47007 seconds[0m ×2 + 14.52sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 14.52sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.52sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 14.52sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 14.53sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 14.53sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 14.53sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 14.53sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 14.53sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 14.53sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 14.53sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 14.55sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 14.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 14.55sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 14.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 14.55sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 14.55sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 14.55sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 14.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 14.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 14.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 14.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 14.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 14.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 14.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 14.75sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 14.75sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096728 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096728 ms (missed cycles : 2).[0m ×2 + 14.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9842] ×2 + 14.94sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 14.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 14.94sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.94sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 14.96sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 15.01sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 15.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 15.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 15.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 15.03sINFOplatform_velocity_controllerconfigure successful + 15.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 15.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 15.04sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 15.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 15.32sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 15.32sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 15.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 15.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 15.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9844] ×2 + 15.37sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 15.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 15.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 15.37sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 15.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 15.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 15.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 15.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 15.46sWARNcontroller_managerOverrun might occur, Total time : 1838.035 us (Expected < 1666.667 us) --> Read time : 278.317 us, Update time : 795.809 us, Write time : 763.909 us + 15.46sWARNros2_control_nodeOverrun might occur, Total time : 1838.035 us (Expected < 1666.667 us) --> Read time : 278.317 us, Update time : 795.809 us, Write time : 763.909 us[0m ×2 + 15.50sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 15.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 15.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 15.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 15.50sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 15.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 15.50sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 15.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 15.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 15.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 15.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 15.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 15.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 15.51sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 15.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 15.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 15.53sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 15.54sINFOmove_groupMoveGroup debug mode is ON + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.54sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 15.54sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 15.54sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 15.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 15.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 15.61sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 15.61sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 15.70sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 15.71sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 15.71sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 15.71sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 15.71sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 15.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 15.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 15.81sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 15.81sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 15.82sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 15.82sINFOstreaming_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) + 15.82sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 15.82sINFOcomponent_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 ×2 + 15.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 15.84sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 15.85sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 15.85sINFOcontroller_managerLoading controller 'vacuum_gripper' + 15.85sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 15.85sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 15.85sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794621 ms (missed cycles : 3). + 15.86sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794621 ms (missed cycles : 3).[0m ×2 + 15.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9850] ×2 + 15.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 15.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 15.91sINFOmove_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
********************************************************
+ 15.91sINFOmove_group ×8 + 15.91sINFOmove_group******************************************************** ×4 + 15.91sINFOmove_group* MoveGroup using: ×2 + 15.91sINFOmove_group* - apply_planning_scene_service ×2 + 15.91sINFOmove_group* - clear_octomap_service ×2 + 15.91sINFOmove_group* - ExecuteTaskSolution ×2 + 15.91sINFOmove_group* - get_group_urdf ×2 + 15.91sINFOmove_group* - load_geometry_from_file ×2 + 15.91sINFOmove_group* - get_planning_scene_service ×2 + 15.91sINFOmove_group* - kinematics_service ×2 + 15.91sINFOmove_group* - save_geometry_to_file ×2 + 15.91sINFOmove_group* - GetPlanningGroups ×2 + 15.91sINFOmove_group* - SetActiveControllerService ×2 + 15.91sINFOmove_group* - URDFPlanningSceneCapability ×2 + 15.91sINFOmove_group[0m ×2 + 15.92sINFOmove_group[92mYou can start planning now![0m ×2 + 15.93sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 15.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 15.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 15.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 15.93sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 15.93sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 15.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 15.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 15.94sWARNcontroller_managerOverrun might occur, Total time : 4837.489 us (Expected < 1666.667 us) --> Read time : 197.125 us, Update time : 4166.713 us (Switch time : 3985.568 us (Switch chained mode time : 0.440 us, perform mode change time : 2.550 us, Activation time : 3808.273 us, Deactivation time : 0.580 us)), Write time : 473.651 us + 15.94sWARNros2_control_nodeOverrun might occur, Total time : 4837.489 us (Expected < 1666.667 us) --> Read time : 197.125 us, Update time : 4166.713 us (Switch time : 3985.568 us (Switch chained mode time : 0.440 us, perform mode change time : 2.550 us, Activation time : 3808.273 us, Deactivation time : 0.580 us)), Write time : 473.651 us[0m ×2 + 15.94sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 15.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 16.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9846] ×2 + 16.30sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.30sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 16.30sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.30sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 16.45sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 16.46sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 16.52sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 16.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 16.53sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 16.53sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 16.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 16.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 16.58sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 16.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.58sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.93sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.93sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 16.93sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 17.10sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 17.10sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 17.29sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.29sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 17.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 17.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 17.36sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 17.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 17.36sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.36sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.74sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.74sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 17.75sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 18.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 18.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.11sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.11sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.20sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 18.20sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 18.26sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 18.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 18.26sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.27sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.54sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 18.54sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 18.64sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 18.64sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 18.98sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.98sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.98sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.98sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.98sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 18.98sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 19.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 19.05sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 19.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 19.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 19.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 19.07sINFOplatform_velocity_controller_nav2configure successful + 19.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 19.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 19.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 19.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 19.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 19.55sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 19.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 19.55sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 19.55sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.94sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 19.94sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 19.98sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 19.98sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 20.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 20.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 20.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 20.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 20.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.61sINFOmove_groupClearing octomap...[0m ×2 + 20.61sINFOmove_groupOctomap cleared.[0m ×2 + 20.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 21.04sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 21.04sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 21.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 21.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 21.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 21.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 22.10sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 22.10sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 22.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 22.46sINFOobjective_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 + 22.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 22.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 22.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 22.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 22.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 22.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 22.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.49sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 22.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.49sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 22.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 23.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 23.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 23.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 23.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 23.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 23.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 23.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 23.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 23.37sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.45sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 23.45sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 42 warnings · 1591 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.08sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.09sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.09sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.09sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.11sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.46sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.46sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 0.46sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.82sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.82sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.82sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.98sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.77sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.78sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.78sINFOplatform_velocity_controller_nav2configure successful + 1.78sINFOros2_control_nodeconfigure successful[0m ×2 + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.20sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.20sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.20sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.20sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.26sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.69sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 7.31sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 7.34sINFOjoint_trajectory_controllerReceived new action goal + 7.34sINFOjoint_trajectory_controllerAccepted new action goal + 7.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.34sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 42 warnings · 2054 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 0.03sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.71sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 2.50sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 3.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 4.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.82sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 42 warnings · 2054 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 0.03sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.71sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 2.50sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 3.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 4.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.82sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 42 warnings · 2054 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 0.03sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.71sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 2.50sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 3.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 4.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.82sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 36 warnings · 1582 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.08sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.09sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.09sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.09sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.11sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.46sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.46sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 0.46sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.82sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.82sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.82sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.98sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.77sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.78sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.78sINFOplatform_velocity_controller_nav2configure successful + 1.78sINFOros2_control_nodeconfigure successful[0m ×2 + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.20sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.20sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.20sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.20sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.26sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.69sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 42 warnings · 2054 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 0.03sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.167] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.38sINFOros2_control_node[2026-06-11 15:32:11.172] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-11 15:32:11.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656240 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 3017.074 us (Expected < 1666.667 us) --> Read time : 509.773 us, Update time : 104.182 us, Write time : 2403.119 us[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9854] ×2 + 0.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-06-11 15:32:11.983] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.985] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-11 15:32:11.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.71sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 2.50sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 2.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 3.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 3.39sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 4.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 6.82sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[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 · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800711 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800711 ms (missed cycles : 3).[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 · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 42 warnings · 1104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089854 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9852] ×2 + 0.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 0.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 0.32sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.34sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.34sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.36sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1752.283 us (Expected < 1666.667 us) --> Read time : 652.886 us, Update time : 297.787 us, Write time : 801.610 us[0m ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.879] [info] Controller state will be published at 20 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-11 15:32:12.880] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049590 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9858] ×2 + 1.11sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.13sINFOplatform_velocity_controller_nav2configure successful + 1.13sINFOros2_control_nodeconfigure successful[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9848] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_akhqrapb --params-file /tmp/launch_params_pi2bfzs2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zs30eybj --params-file /tmp/launch_params_ifwn9jnx [0m ×2 + 1.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 15:32:14.177] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-06-11 15:32:14.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2). + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940116 ms (missed cycles : 2).[0m ×2 + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2708.426 us (Expected < 1666.667 us) --> Read time : 175.414 us, Update time : 514.653 us, Write time : 2018.359 us[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9856] ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.84711671 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.85735393 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130208 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 1882.576 us (Expected < 1666.667 us) --> Read time : 148.844 us, Update time : 1244.150 us, Write time : 489.582 us[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.41610122 seconds. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.42624879 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191935.96241021 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.11320305 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975703 ms (missed cycles : 5).[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 3442.564 us (Expected < 1666.667 us) --> Read time : 142.263 us, Update time : 2786.189 us, Write time : 514.112 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.69268870 seconds. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4235.803 us (Expected < 1666.667 us) --> Read time : 151.303 us, Update time : 3759.822 us (Switch time : 3683.260 us (Switch chained mode time : 0.450 us, perform mode change time : 5.310 us, Activation time : 3667.179 us, Deactivation time : 0.480 us)), Write time : 324.678 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.74286318 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.28162479 seconds. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796975 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 2526.072 us (Expected < 1666.667 us) --> Read time : 137.084 us, Update time : 156.923 us, Write time : 2232.065 us[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336708 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 6723.965 us (Expected < 1666.667 us) --> Read time : 131.374 us, Update time : 6193.922 us, Write time : 398.669 us[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||