67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.1s
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 | 74.3s | 3 errors · 405 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632364 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632364 ms (missed cycles : 6).[0m ×2 + 1.36sWARNcontroller_managerOverrun might occur, Total time : 2329.815 us (Expected < 1666.667 us) --> Read time : 157.079 us, Update time : 198.772 us, Write time : 1973.964 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 2329.815 us (Expected < 1666.667 us) --> Read time : 157.079 us, Update time : 198.772 us, Write time : 1973.964 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.543285 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.543285 ms (missed cycles : 7).[0m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 2236.920 us (Expected < 1666.667 us) --> Read time : 157.749 us, Update time : 1112.195 us, Write time : 966.976 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 2236.920 us (Expected < 1666.667 us) --> Read time : 157.749 us, Update time : 1112.195 us, Write time : 966.976 us[0m ×2 + 3.07sINFOjoint_trajectory_controllerGot request to cancel goal + 3.07sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781197344.11685824 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781197344.65987396 seconds. ×3 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 3052.077 us (Expected < 1666.667 us) --> Read time : 166.330 us, Update time : 2470.813 us, Write time : 414.934 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 3052.077 us (Expected < 1666.667 us) --> Read time : 166.330 us, Update time : 2470.813 us, Write time : 414.934 us[0m ×2 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006228 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006228 ms (missed cycles : 4).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 3035.617 us (Expected < 1666.667 us) --> Read time : 137.688 us, Update time : 2525.917 us, Write time : 372.012 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 3035.617 us (Expected < 1666.667 us) --> Read time : 137.688 us, Update time : 2525.917 us, Write time : 372.012 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089796 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089796 ms (missed cycles : 4).[0m ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.30sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.30sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.30sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.30sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 5865.660 us (Expected < 1666.667 us) --> Read time : 130.878 us, Update time : 5304.297 us, Write time : 430.485 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 5865.660 us (Expected < 1666.667 us) --> Read time : 130.878 us, Update time : 5304.297 us, Write time : 430.485 us[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235231 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235231 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun might occur, Total time : 2616.382 us (Expected < 1666.667 us) --> Read time : 151.979 us, Update time : 2045.438 us, Write time : 418.965 us + 7.00sWARNros2_control_nodeOverrun might occur, Total time : 2616.382 us (Expected < 1666.667 us) --> Read time : 151.979 us, Update time : 2045.438 us, Write time : 418.965 us[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593439 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593439 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349381 ms (missed cycles : 6). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349381 ms (missed cycles : 6).[0m ×2 + 8.44sWARNcontroller_managerOverrun might occur, Total time : 2159.855 us (Expected < 1666.667 us) --> Read time : 199.332 us, Update time : 217.012 us, Write time : 1743.511 us + 8.44sWARNros2_control_nodeOverrun might occur, Total time : 2159.855 us (Expected < 1666.667 us) --> Read time : 199.332 us, Update time : 217.012 us, Write time : 1743.511 us[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703677 ms (missed cycles : 4). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703677 ms (missed cycles : 4).[0m ×2 + 10.09sWARNcontroller_managerOverrun might occur, Total time : 2017.707 us (Expected < 1666.667 us) --> Read time : 144.019 us, Update time : 545.921 us, Write time : 1327.767 us + 10.09sWARNros2_control_nodeOverrun might occur, Total time : 2017.707 us (Expected < 1666.667 us) --> Read time : 144.019 us, Update time : 545.921 us, Write time : 1327.767 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972691 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972691 ms (missed cycles : 2).[0m ×2 + 11.13sWARNcontroller_managerOverrun might occur, Total time : 2827.184 us (Expected < 1666.667 us) --> Read time : 341.680 us, Update time : 2100.452 us, Write time : 385.052 us + 11.13sWARNros2_control_nodeOverrun might occur, Total time : 2827.184 us (Expected < 1666.667 us) --> Read time : 341.680 us, Update time : 2100.452 us, Write time : 385.052 us[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989817 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989817 ms (missed cycles : 3).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255580 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255580 ms (missed cycles : 4).[0m ×2 + 12.55sWARNcontroller_managerOverrun might occur, Total time : 4113.448 us (Expected < 1666.667 us) --> Read time : 3593.478 us, Update time : 151.459 us, Write time : 368.511 us + 12.55sWARNros2_control_nodeOverrun might occur, Total time : 4113.448 us (Expected < 1666.667 us) --> Read time : 3593.478 us, Update time : 151.459 us, Write time : 368.511 us[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825301 ms (missed cycles : 5). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825301 ms (missed cycles : 5).[0m ×2 + 14.06sWARNcontroller_managerOverrun might occur, Total time : 1845.427 us (Expected < 1666.667 us) --> Read time : 159.419 us, Update time : 126.238 us, Write time : 1559.770 us + 14.06sWARNros2_control_nodeOverrun might occur, Total time : 1845.427 us (Expected < 1666.667 us) --> Read time : 159.419 us, Update time : 126.238 us, Write time : 1559.770 us[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792948 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792948 ms (missed cycles : 2).[0m ×2 + 15.19sWARNcontroller_managerOverrun might occur, Total time : 3084.338 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2535.807 us, Write time : 397.303 us + 15.19sWARNros2_control_nodeOverrun might occur, Total time : 3084.338 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2535.807 us, Write time : 397.303 us[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424897 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424897 ms (missed cycles : 3).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043264 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043264 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun might occur, Total time : 2975.873 us (Expected < 1666.667 us) --> Read time : 135.188 us, Update time : 2514.326 us, Write time : 326.359 us + 16.67sWARNros2_control_nodeOverrun might occur, Total time : 2975.873 us (Expected < 1666.667 us) --> Read time : 135.188 us, Update time : 2514.326 us, Write time : 326.359 us[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405211 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405211 ms (missed cycles : 2).[0m ×2 + 17.82sWARNcontroller_managerOverrun might occur, Total time : 8721.727 us (Expected < 1666.667 us) --> Read time : 168.460 us, Update time : 167.280 us, Write time : 8385.987 us + 17.82sWARNros2_control_nodeOverrun might occur, Total time : 8721.727 us (Expected < 1666.667 us) --> Read time : 168.460 us, Update time : 167.280 us, Write time : 8385.987 us[0m ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762680 ms (missed cycles : 3). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762680 ms (missed cycles : 3).[0m ×2 + 19.42sWARNcontroller_managerOverrun might occur, Total time : 2543.187 us (Expected < 1666.667 us) --> Read time : 2006.196 us, Update time : 149.459 us, Write time : 387.532 us + 19.42sWARNros2_control_nodeOverrun might occur, Total time : 2543.187 us (Expected < 1666.667 us) --> Read time : 2006.196 us, Update time : 149.459 us, Write time : 387.532 us[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619886 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619886 ms (missed cycles : 2).[0m ×2 + 20.67sWARNcontroller_managerOverrun might occur, Total time : 3084.879 us (Expected < 1666.667 us) --> Read time : 186.811 us, Update time : 269.106 us, Write time : 2628.962 us + 20.67sWARNros2_control_nodeOverrun might occur, Total time : 3084.879 us (Expected < 1666.667 us) --> Read time : 186.811 us, Update time : 269.106 us, Write time : 2628.962 us[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.937603 ms (missed cycles : 6). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.937603 ms (missed cycles : 6).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393039 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393039 ms (missed cycles : 3).[0m ×2 + 22.12sWARNcontroller_managerOverrun might occur, Total time : 5256.345 us (Expected < 1666.667 us) --> Read time : 385.323 us, Update time : 461.696 us, Write time : 4409.326 us + 22.12sWARNros2_control_nodeOverrun might occur, Total time : 5256.345 us (Expected < 1666.667 us) --> Read time : 385.323 us, Update time : 461.696 us, Write time : 4409.326 us[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717623 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717623 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun might occur, Total time : 2013.457 us (Expected < 1666.667 us) --> Read time : 138.549 us, Update time : 1498.516 us, Write time : 376.392 us + 23.50sWARNros2_control_nodeOverrun might occur, Total time : 2013.457 us (Expected < 1666.667 us) --> Read time : 138.549 us, Update time : 1498.516 us, Write time : 376.392 us[0m ×2 + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236787 ms (missed cycles : 2). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236787 ms (missed cycles : 2).[0m ×2 + 24.75sWARNcontroller_managerOverrun might occur, Total time : 3817.461 us (Expected < 1666.667 us) --> Read time : 567.723 us, Update time : 2701.106 us, Write time : 548.632 us + 24.75sWARNros2_control_nodeOverrun might occur, Total time : 3817.461 us (Expected < 1666.667 us) --> Read time : 567.723 us, Update time : 2701.106 us, Write time : 548.632 us[0m ×2 + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173075 ms (missed cycles : 2). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173075 ms (missed cycles : 2).[0m ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268026 ms (missed cycles : 3). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268026 ms (missed cycles : 3).[0m ×2 + 26.45sWARNcontroller_managerOverrun might occur, Total time : 2184.707 us (Expected < 1666.667 us) --> Read time : 218.863 us, Update time : 148.808 us, Write time : 1817.036 us + 26.45sWARNros2_control_nodeOverrun might occur, Total time : 2184.707 us (Expected < 1666.667 us) --> Read time : 218.863 us, Update time : 148.808 us, Write time : 1817.036 us[0m ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.370277 ms (missed cycles : 7). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.370277 ms (missed cycles : 7).[0m ×2 + 28.05sWARNcontroller_managerOverrun might occur, Total time : 2303.043 us (Expected < 1666.667 us) --> Read time : 466.027 us, Update time : 1021.419 us, Write time : 815.597 us + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520658 ms (missed cycles : 2). + 28.05sWARNros2_control_nodeOverrun might occur, Total time : 2303.043 us (Expected < 1666.667 us) --> Read time : 466.027 us, Update time : 1021.419 us, Write time : 815.597 us[0m ×2 + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520658 ms (missed cycles : 2).[0m ×2 + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079716 ms (missed cycles : 4). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079716 ms (missed cycles : 4).[0m ×2 + 30.08sWARNcontroller_managerOverrun might occur, Total time : 5809.377 us (Expected < 1666.667 us) --> Read time : 130.338 us, Update time : 5248.774 us, Write time : 430.265 us + 30.08sWARNros2_control_nodeOverrun might occur, Total time : 5809.377 us (Expected < 1666.667 us) --> Read time : 130.338 us, Update time : 5248.774 us, Write time : 430.265 us[0m ×2 + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482057 ms (missed cycles : 4). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482057 ms (missed cycles : 4).[0m ×2 + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150384 ms (missed cycles : 2). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150384 ms (missed cycles : 2).[0m ×2 + 31.42sWARNcontroller_managerOverrun might occur, Total time : 4833.271 us (Expected < 1666.667 us) --> Read time : 218.053 us, Update time : 4085.997 us, Write time : 529.221 us + 31.42sWARNros2_control_nodeOverrun might occur, Total time : 4833.271 us (Expected < 1666.667 us) --> Read time : 218.053 us, Update time : 4085.997 us, Write time : 529.221 us[0m ×2 + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535421 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535421 ms (missed cycles : 2).[0m ×2 + 32.61sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.61sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.72sWARNcontroller_managerOverrun might occur, Total time : 1910.241 us (Expected < 1666.667 us) --> Read time : 218.103 us, Update time : 238.474 us, Write time : 1453.664 us + 32.73sWARNros2_control_nodeOverrun might occur, Total time : 1910.241 us (Expected < 1666.667 us) --> Read time : 218.103 us, Update time : 238.474 us, Write time : 1453.664 us[0m ×2 + 33.14sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406249 ms (missed cycles : 3). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406249 ms (missed cycles : 3).[0m ×2 + 33.78sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 34.48sWARNcontroller_managerOverrun might occur, Total time : 2106.132 us (Expected < 1666.667 us) --> Read time : 258.885 us, Update time : 495.279 us, Write time : 1351.968 us + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217180 ms (missed cycles : 2). + 34.49sWARNros2_control_nodeOverrun might occur, Total time : 2106.132 us (Expected < 1666.667 us) --> Read time : 258.885 us, Update time : 495.279 us, Write time : 1351.968 us[0m ×2 + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217180 ms (missed cycles : 2).[0m ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355807 ms (missed cycles : 3). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355807 ms (missed cycles : 3).[0m ×2 + 36.16sWARNcontroller_managerOverrun might occur, Total time : 4700.353 us (Expected < 1666.667 us) --> Read time : 113.867 us, Update time : 3827.792 us, Write time : 758.694 us + 36.16sWARNros2_control_nodeOverrun might occur, Total time : 4700.353 us (Expected < 1666.667 us) --> Read time : 113.867 us, Update time : 3827.792 us, Write time : 758.694 us[0m ×2 + 36.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531547 ms (missed cycles : 3). + 36.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531547 ms (missed cycles : 3).[0m ×2 + 37.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135308 ms (missed cycles : 2). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135308 ms (missed cycles : 2).[0m ×2 + 37.57sWARNcontroller_managerOverrun might occur, Total time : 4618.367 us (Expected < 1666.667 us) --> Read time : 124.847 us, Update time : 4024.753 us, Write time : 468.767 us + 37.57sWARNros2_control_nodeOverrun might occur, Total time : 4618.367 us (Expected < 1666.667 us) --> Read time : 124.847 us, Update time : 4024.753 us, Write time : 468.767 us[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589923 ms (missed cycles : 4). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589923 ms (missed cycles : 4).[0m ×2 + 38.72sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.97sWARNcontroller_managerOverrun might occur, Total time : 1716.428 us (Expected < 1666.667 us) --> Read time : 146.708 us, Update time : 1196.289 us, Write time : 373.431 us + 38.97sWARNros2_control_nodeOverrun might occur, Total time : 1716.428 us (Expected < 1666.667 us) --> Read time : 146.708 us, Update time : 1196.289 us, Write time : 373.431 us[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892429 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892429 ms (missed cycles : 2).[0m ×2 + 40.36sWARNcontroller_managerOverrun might occur, Total time : 1823.956 us (Expected < 1666.667 us) --> Read time : 245.774 us, Update time : 144.209 us, Write time : 1433.973 us + 40.36sWARNros2_control_nodeOverrun might occur, Total time : 1823.956 us (Expected < 1666.667 us) --> Read time : 245.774 us, Update time : 144.209 us, Write time : 1433.973 us[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929964 ms (missed cycles : 2). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929964 ms (missed cycles : 2).[0m ×2 + 41.68sWARNcontroller_managerOverrun might occur, Total time : 2136.394 us (Expected < 1666.667 us) --> Read time : 189.161 us, Update time : 1582.112 us, Write time : 365.121 us + 41.68sWARNros2_control_nodeOverrun might occur, Total time : 2136.394 us (Expected < 1666.667 us) --> Read time : 189.161 us, Update time : 1582.112 us, Write time : 365.121 us[0m ×2 + 41.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769130 ms (missed cycles : 3). + 41.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769130 ms (missed cycles : 3).[0m ×2 + 42.84sWARNcontroller_managerOverrun might occur, Total time : 7987.863 us (Expected < 1666.667 us) --> Read time : 140.038 us, Update time : 7356.817 us, Write time : 491.008 us + 42.84sWARNros2_control_nodeOverrun might occur, Total time : 7987.863 us (Expected < 1666.667 us) --> Read time : 140.038 us, Update time : 7356.817 us, Write time : 491.008 us[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244662 ms (missed cycles : 5). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244662 ms (missed cycles : 5).[0m ×2 + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365242 ms (missed cycles : 6). + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365242 ms (missed cycles : 6).[0m ×2 + 44.90sWARNcontroller_managerOverrun might occur, Total time : 1826.975 us (Expected < 1666.667 us) --> Read time : 122.617 us, Update time : 1392.190 us, Write time : 312.168 us + 44.90sWARNros2_control_nodeOverrun might occur, Total time : 1826.975 us (Expected < 1666.667 us) --> Read time : 122.617 us, Update time : 1392.190 us, Write time : 312.168 us[0m ×2 + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764500 ms (missed cycles : 3). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764500 ms (missed cycles : 3).[0m ×2 + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175456 ms (missed cycles : 3). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175456 ms (missed cycles : 3).[0m ×2 + 46.35sWARNcontroller_managerOverrun might occur, Total time : 2108.641 us (Expected < 1666.667 us) --> Read time : 194.821 us, Update time : 234.533 us, Write time : 1679.287 us + 46.35sWARNros2_control_nodeOverrun might occur, Total time : 2108.641 us (Expected < 1666.667 us) --> Read time : 194.821 us, Update time : 234.533 us, Write time : 1679.287 us[0m ×2 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253721 ms (missed cycles : 2). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253721 ms (missed cycles : 2).[0m ×2 + 47.41sWARNcontroller_managerOverrun might occur, Total time : 3811.211 us (Expected < 1666.667 us) --> Read time : 153.539 us, Update time : 3252.908 us, Write time : 404.764 us + 47.42sWARNros2_control_nodeOverrun might occur, Total time : 3811.211 us (Expected < 1666.667 us) --> Read time : 153.539 us, Update time : 3252.908 us, Write time : 404.764 us[0m ×2 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861071 ms (missed cycles : 3). + 47.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861071 ms (missed cycles : 3).[0m ×2 + 49.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.325023 ms (missed cycles : 5). + 49.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.325023 ms (missed cycles : 5).[0m ×2 + 49.84sWARNcontroller_managerOverrun might occur, Total time : 1697.798 us (Expected < 1666.667 us) --> Read time : 104.146 us, Update time : 1354.818 us, Write time : 238.834 us + 49.84sWARNros2_control_nodeOverrun might occur, Total time : 1697.798 us (Expected < 1666.667 us) --> Read time : 104.146 us, Update time : 1354.818 us, Write time : 238.834 us[0m ×2 + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805070 ms (missed cycles : 3). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805070 ms (missed cycles : 3).[0m ×2 + 50.62sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894498 ms (missed cycles : 2). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894498 ms (missed cycles : 2).[0m ×2 + 51.04sWARNcontroller_managerOverrun might occur, Total time : 3344.244 us (Expected < 1666.667 us) --> Read time : 115.647 us, Update time : 2823.473 us, Write time : 405.124 us + 51.04sWARNros2_control_nodeOverrun might occur, Total time : 3344.244 us (Expected < 1666.667 us) --> Read time : 115.647 us, Update time : 2823.473 us, Write time : 405.124 us[0m ×2 + 52.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.741691 ms (missed cycles : 6). + 52.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.741691 ms (missed cycles : 6).[0m ×2 + 52.19sWARNcontroller_managerOverrun might occur, Total time : 1697.279 us (Expected < 1666.667 us) --> Read time : 119.827 us, Update time : 1244.273 us, Write time : 333.179 us + 52.20sWARNros2_control_nodeOverrun might occur, Total time : 1697.279 us (Expected < 1666.667 us) --> Read time : 119.827 us, Update time : 1244.273 us, Write time : 333.179 us[0m ×2 + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176645 ms (missed cycles : 2). + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176645 ms (missed cycles : 2).[0m ×2 + 53.50sWARNcontroller_managerOverrun might occur, Total time : 2035.438 us (Expected < 1666.667 us) --> Read time : 286.867 us, Update time : 165.360 us, Write time : 1583.211 us + 53.50sWARNros2_control_nodeOverrun might occur, Total time : 2035.438 us (Expected < 1666.667 us) --> Read time : 286.867 us, Update time : 165.360 us, Write time : 1583.211 us[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013094 ms (missed cycles : 2). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013094 ms (missed cycles : 2).[0m ×2 + 54.64sWARNcontroller_managerOverrun might occur, Total time : 2294.613 us (Expected < 1666.667 us) --> Read time : 148.358 us, Update time : 1620.594 us, Write time : 525.661 us + 54.64sWARNros2_control_nodeOverrun might occur, Total time : 2294.613 us (Expected < 1666.667 us) --> Read time : 148.358 us, Update time : 1620.594 us, Write time : 525.661 us[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041427 ms (missed cycles : 3). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041427 ms (missed cycles : 3).[0m ×2 + 56.17sWARNcontroller_managerOverrun might occur, Total time : 1667.797 us (Expected < 1666.667 us) --> Read time : 117.667 us, Update time : 990.348 us, Write time : 559.782 us + 56.17sWARNros2_control_nodeOverrun might occur, Total time : 1667.797 us (Expected < 1666.667 us) --> Read time : 117.667 us, Update time : 990.348 us, Write time : 559.782 us[0m ×2 + 56.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148251 ms (missed cycles : 3). + 56.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148251 ms (missed cycles : 3).[0m ×2 + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489663 ms (missed cycles : 6). + 57.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489663 ms (missed cycles : 6).[0m ×2 + 57.64sWARNcontroller_managerOverrun might occur, Total time : 2527.475 us (Expected < 1666.667 us) --> Read time : 146.698 us, Update time : 2058.919 us, Write time : 321.858 us + 57.64sWARNros2_control_nodeOverrun might occur, Total time : 2527.475 us (Expected < 1666.667 us) --> Read time : 146.698 us, Update time : 2058.919 us, Write time : 321.858 us[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094592 ms (missed cycles : 4). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094592 ms (missed cycles : 4).[0m ×2 + 59.25sWARNcontroller_managerOverrun might occur, Total time : 2893.868 us (Expected < 1666.667 us) --> Read time : 108.956 us, Update time : 2238.220 us, Write time : 546.692 us + 59.25sWARNros2_control_nodeOverrun might occur, Total time : 2893.868 us (Expected < 1666.667 us) --> Read time : 108.956 us, Update time : 2238.220 us, Write time : 546.692 us[0m ×2 + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059116 ms (missed cycles : 4). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059116 ms (missed cycles : 4).[0m ×2 + 60.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926587 ms (missed cycles : 2). + 60.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926587 ms (missed cycles : 2).[0m ×2 + 60.78sWARNcontroller_managerOverrun might occur, Total time : 4100.108 us (Expected < 1666.667 us) --> Read time : 544.762 us, Update time : 3152.753 us, Write time : 402.593 us + 60.78sWARNros2_control_nodeOverrun might occur, Total time : 4100.108 us (Expected < 1666.667 us) --> Read time : 544.762 us, Update time : 3152.753 us, Write time : 402.593 us[0m ×2 + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109475 ms (missed cycles : 2). + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109475 ms (missed cycles : 2).[0m ×2 + 61.98sWARNcontroller_managerOverrun might occur, Total time : 2032.417 us (Expected < 1666.667 us) --> Read time : 522.950 us, Update time : 461.147 us, Write time : 1048.320 us + 61.98sWARNros2_control_nodeOverrun might occur, Total time : 2032.417 us (Expected < 1666.667 us) --> Read time : 522.950 us, Update time : 461.147 us, Write time : 1048.320 us[0m ×2 + 62.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696707 ms (missed cycles : 2). + 62.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696707 ms (missed cycles : 2).[0m ×2 + 63.15sWARNcontroller_managerOverrun might occur, Total time : 3719.956 us (Expected < 1666.667 us) --> Read time : 125.197 us, Update time : 3214.077 us, Write time : 380.682 us + 63.15sWARNros2_control_nodeOverrun might occur, Total time : 3719.956 us (Expected < 1666.667 us) --> Read time : 125.197 us, Update time : 3214.077 us, Write time : 380.682 us[0m ×2 + 63.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.590663 ms (missed cycles : 6). + 63.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.590663 ms (missed cycles : 6).[0m ×2 + 64.28sWARNcontroller_managerOverrun might occur, Total time : 4511.052 us (Expected < 1666.667 us) --> Read time : 126.347 us, Update time : 3984.291 us, Write time : 400.414 us + 64.28sWARNros2_control_nodeOverrun might occur, Total time : 4511.052 us (Expected < 1666.667 us) --> Read time : 126.347 us, Update time : 3984.291 us, Write time : 400.414 us[0m ×2 + 64.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529695 ms (missed cycles : 4). + 64.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529695 ms (missed cycles : 4).[0m ×2 + 64.74sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 65.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074064 ms (missed cycles : 3). + 65.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074064 ms (missed cycles : 3).[0m ×2 + 65.59sWARNcontroller_managerOverrun might occur, Total time : 1723.000 us (Expected < 1666.667 us) --> Read time : 133.918 us, Update time : 138.018 us, Write time : 1451.064 us + 65.59sWARNros2_control_nodeOverrun might occur, Total time : 1723.000 us (Expected < 1666.667 us) --> Read time : 133.918 us, Update time : 138.018 us, Write time : 1451.064 us[0m ×2 + 66.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627203 ms (missed cycles : 4). + 66.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627203 ms (missed cycles : 4).[0m ×2 + 66.73sWARNcontroller_managerOverrun might occur, Total time : 2665.915 us (Expected < 1666.667 us) --> Read time : 205.272 us, Update time : 2026.868 us, Write time : 433.775 us + 66.73sWARNros2_control_nodeOverrun might occur, Total time : 2665.915 us (Expected < 1666.667 us) --> Read time : 205.272 us, Update time : 2026.868 us, Write time : 433.775 us[0m ×2 + 67.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709109 ms (missed cycles : 5). + 67.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709109 ms (missed cycles : 5).[0m ×2 + 68.11sWARNcontroller_managerOverrun might occur, Total time : 2383.229 us (Expected < 1666.667 us) --> Read time : 161.160 us, Update time : 202.152 us, Write time : 2019.917 us + 68.11sWARNros2_control_nodeOverrun might occur, Total time : 2383.229 us (Expected < 1666.667 us) --> Read time : 161.160 us, Update time : 202.152 us, Write time : 2019.917 us[0m ×2 + 68.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766076 ms (missed cycles : 2). + 68.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766076 ms (missed cycles : 2).[0m ×2 + 69.37sWARNcontroller_managerOverrun might occur, Total time : 3338.873 us (Expected < 1666.667 us) --> Read time : 233.093 us, Update time : 2693.036 us, Write time : 412.744 us + 69.37sWARNros2_control_nodeOverrun might occur, Total time : 3338.873 us (Expected < 1666.667 us) --> Read time : 233.093 us, Update time : 2693.036 us, Write time : 412.744 us[0m ×2 + 69.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.978911 ms (missed cycles : 6). + 69.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.978911 ms (missed cycles : 6).[0m ×2 + 70.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748698 ms (missed cycles : 2). + 70.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748698 ms (missed cycles : 2).[0m ×2 + 71.05sWARNcontroller_managerOverrun might occur, Total time : 3100.020 us (Expected < 1666.667 us) --> Read time : 171.560 us, Update time : 97.326 us, Write time : 2831.134 us + 71.05sWARNros2_control_nodeOverrun might occur, Total time : 3100.020 us (Expected < 1666.667 us) --> Read time : 171.560 us, Update time : 97.326 us, Write time : 2831.134 us[0m ×2 + 71.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.268171 ms (missed cycles : 5). + 71.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.268171 ms (missed cycles : 5).[0m ×2 + 72.06sWARNcontroller_managerOverrun might occur, Total time : 6254.252 us (Expected < 1666.667 us) --> Read time : 110.206 us, Update time : 5726.302 us, Write time : 417.744 us + 72.06sWARNros2_control_nodeOverrun might occur, Total time : 6254.252 us (Expected < 1666.667 us) --> Read time : 110.206 us, Update time : 5726.302 us, Write time : 417.744 us[0m ×2 + 73.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442776 ms (missed cycles : 3). + 73.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442776 ms (missed cycles : 3).[0m ×2 + 73.15sWARNcontroller_managerOverrun might occur, Total time : 2528.506 us (Expected < 1666.667 us) --> Read time : 143.468 us, Update time : 2002.116 us, Write time : 382.922 us + 73.15sWARNros2_control_nodeOverrun might occur, Total time : 2528.506 us (Expected < 1666.667 us) --> Read time : 143.468 us, Update time : 2002.116 us, Write time : 382.922 us[0m ×2 + 74.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 74.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 75.05sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 75.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 75.05sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 75.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 76.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 76.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 76.08sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 76.08sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 77.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 77.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 77.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 77.64sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 77.64sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 77.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 78.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 78.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 78.35sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 79.10sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 79.11sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 79.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 79.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 80.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 80.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.1s | 318 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781197182.68424368 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781197183.23469877 seconds. ×3 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us + 0.91sWARNros2_control_nodeOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (5.4174e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.03sWARNcontroller_managerOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us + 2.03sWARNros2_control_nodeOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2).[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755436 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755436 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781197186.30483389 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 2533.019 us (Expected < 1666.667 us) --> Read time : 152.869 us, Update time : 165.070 us, Write time : 2215.080 us + 4.00sWARNros2_control_nodeOverrun might occur, Total time : 2533.019 us (Expected < 1666.667 us) --> Read time : 152.869 us, Update time : 165.070 us, Write time : 2215.080 us[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781197186.85311198 seconds. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350279 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350279 ms (missed cycles : 2).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224365 ms (missed cycles : 6). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224365 ms (missed cycles : 6).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 3010.517 us (Expected < 1666.667 us) --> Read time : 129.147 us, Update time : 2538.780 us, Write time : 342.590 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 3010.517 us (Expected < 1666.667 us) --> Read time : 129.147 us, Update time : 2538.780 us, Write time : 342.590 us[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258536 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258536 ms (missed cycles : 5).[0m ×2 + 7.47sWARNcontroller_managerOverrun might occur, Total time : 2064.141 us (Expected < 1666.667 us) --> Read time : 183.021 us, Update time : 191.431 us, Write time : 1689.689 us + 7.47sWARNros2_control_nodeOverrun might occur, Total time : 2064.141 us (Expected < 1666.667 us) --> Read time : 183.021 us, Update time : 191.431 us, Write time : 1689.689 us[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752255 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752255 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun might occur, Total time : 4051.919 us (Expected < 1666.667 us) --> Read time : 178.611 us, Update time : 3449.473 us, Write time : 423.835 us + 8.62sWARNros2_control_nodeOverrun might occur, Total time : 4051.919 us (Expected < 1666.667 us) --> Read time : 178.611 us, Update time : 3449.473 us, Write time : 423.835 us[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219222 ms (missed cycles : 5). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219222 ms (missed cycles : 5).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054258 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054258 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun might occur, Total time : 3817.965 us (Expected < 1666.667 us) --> Read time : 163.760 us, Update time : 87.515 us, Write time : 3566.690 us + 9.87sWARNros2_control_nodeOverrun might occur, Total time : 3817.965 us (Expected < 1666.667 us) --> Read time : 163.760 us, Update time : 87.515 us, Write time : 3566.690 us[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776100 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776100 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun might occur, Total time : 1845.079 us (Expected < 1666.667 us) --> Read time : 166.210 us, Update time : 655.839 us, Write time : 1023.030 us + 10.99sWARNros2_control_nodeOverrun might occur, Total time : 1845.079 us (Expected < 1666.667 us) --> Read time : 166.210 us, Update time : 655.839 us, Write time : 1023.030 us[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879443 ms (missed cycles : 5). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879443 ms (missed cycles : 5).[0m ×2 + 12.16sWARNcontroller_managerOverrun might occur, Total time : 1681.169 us (Expected < 1666.667 us) --> Read time : 135.798 us, Update time : 690.780 us, Write time : 854.591 us + 12.16sWARNros2_control_nodeOverrun might occur, Total time : 1681.169 us (Expected < 1666.667 us) --> Read time : 135.798 us, Update time : 690.780 us, Write time : 854.591 us[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545141 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545141 ms (missed cycles : 2).[0m ×2 + 13.49sWARNcontroller_managerOverrun might occur, Total time : 9802.796 us (Expected < 1666.667 us) --> Read time : 143.748 us, Update time : 212.253 us, Write time : 9446.795 us + 13.50sWARNros2_control_nodeOverrun might occur, Total time : 9802.796 us (Expected < 1666.667 us) --> Read time : 143.748 us, Update time : 212.253 us, Write time : 9446.795 us[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781128 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781128 ms (missed cycles : 2).[0m ×2 + 14.65sWARNcontroller_managerOverrun might occur, Total time : 6640.220 us (Expected < 1666.667 us) --> Read time : 154.069 us, Update time : 135.068 us, Write time : 6351.083 us + 14.65sWARNros2_control_nodeOverrun might occur, Total time : 6640.220 us (Expected < 1666.667 us) --> Read time : 154.069 us, Update time : 135.068 us, Write time : 6351.083 us[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263345 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263345 ms (missed cycles : 3).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.304408 ms (missed cycles : 7). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.304408 ms (missed cycles : 7).[0m ×2 + 16.31sWARNcontroller_managerOverrun might occur, Total time : 2168.127 us (Expected < 1666.667 us) --> Read time : 116.827 us, Update time : 1730.111 us, Write time : 321.189 us + 16.31sWARNros2_control_nodeOverrun might occur, Total time : 2168.127 us (Expected < 1666.667 us) --> Read time : 116.827 us, Update time : 1730.111 us, Write time : 321.189 us[0m ×2 + 17.10sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815463 ms (missed cycles : 6). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815463 ms (missed cycles : 6).[0m ×2 + 17.69sWARNcontroller_managerOverrun might occur, Total time : 2336.377 us (Expected < 1666.667 us) --> Read time : 1738.082 us, Update time : 301.438 us, Write time : 296.857 us + 17.69sWARNros2_control_nodeOverrun might occur, Total time : 2336.377 us (Expected < 1666.667 us) --> Read time : 1738.082 us, Update time : 301.438 us, Write time : 296.857 us[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092311 ms (missed cycles : 4). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092311 ms (missed cycles : 4).[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333696 ms (missed cycles : 4). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333696 ms (missed cycles : 4).[0m ×2 + 19.68sWARNcontroller_managerOverrun might occur, Total time : 2485.716 us (Expected < 1666.667 us) --> Read time : 137.128 us, Update time : 1939.524 us, Write time : 409.064 us + 19.68sWARNros2_control_nodeOverrun might occur, Total time : 2485.716 us (Expected < 1666.667 us) --> Read time : 137.128 us, Update time : 1939.524 us, Write time : 409.064 us[0m ×2 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854618 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854618 ms (missed cycles : 2).[0m ×2 + 20.76sWARNcontroller_managerOverrun might occur, Total time : 3419.301 us (Expected < 1666.667 us) --> Read time : 174.430 us, Update time : 2821.346 us, Write time : 423.525 us + 20.76sWARNros2_control_nodeOverrun might occur, Total time : 3419.301 us (Expected < 1666.667 us) --> Read time : 174.430 us, Update time : 2821.346 us, Write time : 423.525 us[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893035 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893035 ms (missed cycles : 3).[0m ×2 + 22.30sWARNcontroller_managerOverrun might occur, Total time : 4538.527 us (Expected < 1666.667 us) --> Read time : 131.258 us, Update time : 4042.068 us, Write time : 365.201 us + 22.30sWARNros2_control_nodeOverrun might occur, Total time : 4538.527 us (Expected < 1666.667 us) --> Read time : 131.258 us, Update time : 4042.068 us, Write time : 365.201 us[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024855 ms (missed cycles : 4). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024855 ms (missed cycles : 4).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865195 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865195 ms (missed cycles : 3).[0m ×2 + 23.48sWARNcontroller_managerOverrun might occur, Total time : 1724.832 us (Expected < 1666.667 us) --> Read time : 307.768 us, Update time : 529.542 us, Write time : 887.522 us + 23.48sWARNros2_control_nodeOverrun might occur, Total time : 1724.832 us (Expected < 1666.667 us) --> Read time : 307.768 us, Update time : 529.542 us, Write time : 887.522 us[0m ×2 + 24.54sWARNcontroller_managerOverrun might occur, Total time : 2264.233 us (Expected < 1666.667 us) --> Read time : 297.258 us, Update time : 1547.931 us, Write time : 419.044 us + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486659 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun might occur, Total time : 2264.233 us (Expected < 1666.667 us) --> Read time : 297.258 us, Update time : 1547.931 us, Write time : 419.044 us[0m ×2 + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486659 ms (missed cycles : 2).[0m ×2 + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605844 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605844 ms (missed cycles : 3).[0m ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470089 ms (missed cycles : 4). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470089 ms (missed cycles : 4).[0m ×2 + 26.87sWARNcontroller_managerOverrun might occur, Total time : 4611.931 us (Expected < 1666.667 us) --> Read time : 160.800 us, Update time : 3944.192 us, Write time : 506.939 us + 26.87sWARNros2_control_nodeOverrun might occur, Total time : 4611.931 us (Expected < 1666.667 us) --> Read time : 160.800 us, Update time : 3944.192 us, Write time : 506.939 us[0m ×2 + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429081 ms (missed cycles : 3). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429081 ms (missed cycles : 3).[0m ×2 + 27.90sWARNcontroller_managerOverrun might occur, Total time : 2110.034 us (Expected < 1666.667 us) --> Read time : 150.749 us, Update time : 150.099 us, Write time : 1809.186 us + 27.90sWARNros2_control_nodeOverrun might occur, Total time : 2110.034 us (Expected < 1666.667 us) --> Read time : 150.749 us, Update time : 150.099 us, Write time : 1809.186 us[0m ×2 + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827103 ms (missed cycles : 2). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827103 ms (missed cycles : 2).[0m ×2 + 29.43sWARNcontroller_managerOverrun might occur, Total time : 1691.339 us (Expected < 1666.667 us) --> Read time : 146.708 us, Update time : 127.728 us, Write time : 1416.903 us + 29.44sWARNros2_control_nodeOverrun might occur, Total time : 1691.339 us (Expected < 1666.667 us) --> Read time : 146.708 us, Update time : 127.728 us, Write time : 1416.903 us[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957259 ms (missed cycles : 2). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957259 ms (missed cycles : 2).[0m ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219946 ms (missed cycles : 2). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219946 ms (missed cycles : 2).[0m ×2 + 31.01sWARNcontroller_managerOverrun might occur, Total time : 2938.679 us (Expected < 1666.667 us) --> Read time : 131.558 us, Update time : 2422.639 us, Write time : 384.482 us + 31.01sWARNros2_control_nodeOverrun might occur, Total time : 2938.679 us (Expected < 1666.667 us) --> Read time : 131.558 us, Update time : 2422.639 us, Write time : 384.482 us[0m ×2 + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201886 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201886 ms (missed cycles : 2).[0m ×2 + 32.04sWARNcontroller_managerOverrun might occur, Total time : 7852.272 us (Expected < 1666.667 us) --> Read time : 127.067 us, Update time : 7313.181 us, Write time : 412.024 us + 32.04sWARNros2_control_nodeOverrun might occur, Total time : 7852.272 us (Expected < 1666.667 us) --> Read time : 127.067 us, Update time : 7313.181 us, Write time : 412.024 us[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213436 ms (missed cycles : 5). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213436 ms (missed cycles : 5).[0m ×2 + 33.09sWARNcontroller_managerOverrun might occur, Total time : 4903.003 us (Expected < 1666.667 us) --> Read time : 163.619 us, Update time : 4309.849 us, Write time : 429.535 us + 33.10sWARNros2_control_nodeOverrun might occur, Total time : 4903.003 us (Expected < 1666.667 us) --> Read time : 163.619 us, Update time : 4309.849 us, Write time : 429.535 us[0m ×2 + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650472 ms (missed cycles : 2). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650472 ms (missed cycles : 2).[0m ×2 + 34.19sWARNcontroller_managerOverrun might occur, Total time : 1781.553 us (Expected < 1666.667 us) --> Read time : 196.262 us, Update time : 1178.297 us, Write time : 406.994 us + 34.19sWARNros2_control_nodeOverrun might occur, Total time : 1781.553 us (Expected < 1666.667 us) --> Read time : 196.262 us, Update time : 1178.297 us, Write time : 406.994 us[0m ×2 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.447898 ms (missed cycles : 7). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.447898 ms (missed cycles : 7).[0m ×2 + 34.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.36sWARNcontroller_managerOverrun might occur, Total time : 2029.817 us (Expected < 1666.667 us) --> Read time : 133.508 us, Update time : 1565.910 us, Write time : 330.399 us + 35.37sWARNros2_control_nodeOverrun might occur, Total time : 2029.817 us (Expected < 1666.667 us) --> Read time : 133.508 us, Update time : 1565.910 us, Write time : 330.399 us[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106447 ms (missed cycles : 5). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106447 ms (missed cycles : 5).[0m ×2 + 36.55sWARNcontroller_managerOverrun might occur, Total time : 1973.644 us (Expected < 1666.667 us) --> Read time : 1460.184 us, Update time : 156.979 us, Write time : 356.481 us + 36.55sWARNros2_control_nodeOverrun might occur, Total time : 1973.644 us (Expected < 1666.667 us) --> Read time : 1460.184 us, Update time : 156.979 us, Write time : 356.481 us[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047773 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047773 ms (missed cycles : 2).[0m ×2 + 37.72sWARNcontroller_managerOverrun might occur, Total time : 2084.090 us (Expected < 1666.667 us) --> Read time : 1504.037 us, Update time : 261.825 us, Write time : 318.228 us + 37.72sWARNros2_control_nodeOverrun might occur, Total time : 2084.090 us (Expected < 1666.667 us) --> Read time : 1504.037 us, Update time : 261.825 us, Write time : 318.228 us[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865703 ms (missed cycles : 5). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865703 ms (missed cycles : 5).[0m ×2 + 38.90sWARNcontroller_managerOverrun might occur, Total time : 1925.941 us (Expected < 1666.667 us) --> Read time : 197.632 us, Update time : 140.138 us, Write time : 1588.171 us + 38.90sWARNros2_control_nodeOverrun might occur, Total time : 1925.941 us (Expected < 1666.667 us) --> Read time : 197.632 us, Update time : 140.138 us, Write time : 1588.171 us[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688537 ms (missed cycles : 2). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688537 ms (missed cycles : 2).[0m ×2 + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513862 ms (missed cycles : 3). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513862 ms (missed cycles : 3).[0m ×2 + 40.91sWARNcontroller_managerOverrun might occur, Total time : 4353.361 us (Expected < 1666.667 us) --> Read time : 146.878 us, Update time : 3872.804 us, Write time : 333.679 us + 40.91sWARNros2_control_nodeOverrun might occur, Total time : 4353.361 us (Expected < 1666.667 us) --> Read time : 146.878 us, Update time : 3872.804 us, Write time : 333.679 us[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.018675 ms (missed cycles : 7). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.018675 ms (missed cycles : 7).[0m ×2 + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288158 ms (missed cycles : 2). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288158 ms (missed cycles : 2).[0m ×2 + 42.67sWARNcontroller_managerOverrun might occur, Total time : 1878.127 us (Expected < 1666.667 us) --> Read time : 283.146 us, Update time : 162.459 us, Write time : 1432.522 us + 42.67sWARNros2_control_nodeOverrun might occur, Total time : 1878.127 us (Expected < 1666.667 us) --> Read time : 283.146 us, Update time : 162.459 us, Write time : 1432.522 us[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883297 ms (missed cycles : 2). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883297 ms (missed cycles : 2).[0m ×2 + 43.85sWARNcontroller_managerOverrun might occur, Total time : 6209.347 us (Expected < 1666.667 us) --> Read time : 122.727 us, Update time : 5627.894 us, Write time : 458.726 us + 43.85sWARNros2_control_nodeOverrun might occur, Total time : 6209.347 us (Expected < 1666.667 us) --> Read time : 122.727 us, Update time : 5627.894 us, Write time : 458.726 us[0m ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200189 ms (missed cycles : 5). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200189 ms (missed cycles : 5).[0m ×2 + 45.23sWARNcontroller_managerOverrun might occur, Total time : 2764.820 us (Expected < 1666.667 us) --> Read time : 135.708 us, Update time : 2280.652 us, Write time : 348.460 us + 45.23sWARNros2_control_nodeOverrun might occur, Total time : 2764.820 us (Expected < 1666.667 us) --> Read time : 135.708 us, Update time : 2280.652 us, Write time : 348.460 us[0m ×2 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094546 ms (missed cycles : 2). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094546 ms (missed cycles : 2).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007735 ms (missed cycles : 2). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007735 ms (missed cycles : 2).[0m ×2 + 46.74sWARNcontroller_managerOverrun might occur, Total time : 2600.149 us (Expected < 1666.667 us) --> Read time : 190.751 us, Update time : 1315.865 us, Write time : 1093.533 us + 46.75sWARNros2_control_nodeOverrun might occur, Total time : 2600.149 us (Expected < 1666.667 us) --> Read time : 190.751 us, Update time : 1315.865 us, Write time : 1093.533 us[0m ×2 + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962813 ms (missed cycles : 2). + 47.79sWARNcontroller_managerOverrun might occur, Total time : 2588.339 us (Expected < 1666.667 us) --> Read time : 115.196 us, Update time : 2107.972 us, Write time : 365.171 us + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962813 ms (missed cycles : 2).[0m ×2 + 47.80sWARNros2_control_nodeOverrun might occur, Total time : 2588.339 us (Expected < 1666.667 us) --> Read time : 115.196 us, Update time : 2107.972 us, Write time : 365.171 us[0m ×2 + 48.82sWARNcontroller_managerOverrun might occur, Total time : 2886.686 us (Expected < 1666.667 us) --> Read time : 277.676 us, Update time : 2190.796 us, Write time : 418.214 us + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436026 ms (missed cycles : 3). + 48.82sWARNros2_control_nodeOverrun might occur, Total time : 2886.686 us (Expected < 1666.667 us) --> Read time : 277.676 us, Update time : 2190.796 us, Write time : 418.214 us[0m ×2 + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436026 ms (missed cycles : 3).[0m ×2 + 49.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862105 ms (missed cycles : 4). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862105 ms (missed cycles : 4).[0m ×2 + 50.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248737 ms (missed cycles : 2). + 50.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248737 ms (missed cycles : 2).[0m ×2 + 51.04sWARNcontroller_managerOverrun might occur, Total time : 2817.722 us (Expected < 1666.667 us) --> Read time : 134.378 us, Update time : 2274.791 us, Write time : 408.553 us + 51.04sWARNros2_control_nodeOverrun might occur, Total time : 2817.722 us (Expected < 1666.667 us) --> Read time : 134.378 us, Update time : 2274.791 us, Write time : 408.553 us[0m ×2 + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891197 ms (missed cycles : 2). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891197 ms (missed cycles : 2).[0m ×2 + 52.70sWARNcontroller_managerOverrun might occur, Total time : 1959.364 us (Expected < 1666.667 us) --> Read time : 124.467 us, Update time : 1577.672 us, Write time : 257.225 us + 52.70sWARNros2_control_nodeOverrun might occur, Total time : 1959.364 us (Expected < 1666.667 us) --> Read time : 124.467 us, Update time : 1577.672 us, Write time : 257.225 us[0m ×2 + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.074443 ms (missed cycles : 7). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.074443 ms (missed cycles : 7).[0m ×2 + 54.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121733 ms (missed cycles : 2). + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121733 ms (missed cycles : 2).[0m ×2 + 54.09sWARNcontroller_managerOverrun might occur, Total time : 2138.104 us (Expected < 1666.667 us) --> Read time : 140.738 us, Update time : 425.915 us, Write time : 1571.451 us + 54.09sWARNros2_control_nodeOverrun might occur, Total time : 2138.104 us (Expected < 1666.667 us) --> Read time : 140.738 us, Update time : 425.915 us, Write time : 1571.451 us[0m ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196523 ms (missed cycles : 4). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196523 ms (missed cycles : 4).[0m ×2 + 56.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651424 ms (missed cycles : 3). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651424 ms (missed cycles : 3).[0m ×2 + 56.63sWARNcontroller_managerOverrun might occur, Total time : 2813.313 us (Expected < 1666.667 us) --> Read time : 97.906 us, Update time : 2333.365 us, Write time : 382.042 us + 56.63sWARNros2_control_nodeOverrun might occur, Total time : 2813.313 us (Expected < 1666.667 us) --> Read time : 97.906 us, Update time : 2333.365 us, Write time : 382.042 us[0m ×2 + 57.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5). + 57.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5).[0m ×2 + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4).[0m ×2 + 58.24sWARNcontroller_managerOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us + 58.24sWARNros2_control_nodeOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us[0m ×2 + 59.29sWARNcontroller_managerOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us + 59.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3). + 59.29sWARNros2_control_nodeOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us[0m ×2 + 59.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3).[0m ×2 + 60.30sWARNcontroller_managerOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us + 60.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3). + 60.30sWARNros2_control_nodeOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us[0m ×2 + 60.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3).[0m ×2 + 60.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781197243.40328503 seconds ×3 + 61.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2). + 61.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781197243.95608950 seconds. ×3 + 61.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m ×2 + 61.33sWARNcontroller_managerOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us + 61.33sWARNros2_control_nodeOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us[0m ×2 + 61.68sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 61.71sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3). + 62.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3).[0m ×2 + 63.13sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 63.13sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 63.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 63.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.4s | 300 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_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 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176671 ms (missed cycles : 7). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176671 ms (missed cycles : 7).[0m ×2 + 7.88sWARNcontroller_managerOverrun might occur, Total time : 1823.256 us (Expected < 1666.667 us) --> Read time : 748.854 us, Update time : 137.468 us, Write time : 936.934 us + 7.88sWARNros2_control_nodeOverrun might occur, Total time : 1823.256 us (Expected < 1666.667 us) --> Read time : 748.854 us, Update time : 137.468 us, Write time : 936.934 us[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333274 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333274 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790576 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790576 ms (missed cycles : 5).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946189 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946189 ms (missed cycles : 3).[0m ×2 + 11.27sWARNcontroller_managerOverrun might occur, Total time : 7368.937 us (Expected < 1666.667 us) --> Read time : 141.018 us, Update time : 6629.544 us, Write time : 598.375 us + 11.27sWARNros2_control_nodeOverrun might occur, Total time : 7368.937 us (Expected < 1666.667 us) --> Read time : 141.018 us, Update time : 6629.544 us, Write time : 598.375 us[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797546 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797546 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun might occur, Total time : 2410.100 us (Expected < 1666.667 us) --> Read time : 140.439 us, Update time : 1878.418 us, Write time : 391.243 us + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621786 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun might occur, Total time : 2410.100 us (Expected < 1666.667 us) --> Read time : 140.439 us, Update time : 1878.418 us, Write time : 391.243 us[0m ×2 + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621786 ms (missed cycles : 2).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405697 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405697 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun might occur, Total time : 2284.753 us (Expected < 1666.667 us) --> Read time : 513.120 us, Update time : 558.293 us, Write time : 1213.340 us + 14.05sWARNros2_control_nodeOverrun might occur, Total time : 2284.753 us (Expected < 1666.667 us) --> Read time : 513.120 us, Update time : 558.293 us, Write time : 1213.340 us[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002133 ms (missed cycles : 4). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002133 ms (missed cycles : 4).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677826 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677826 ms (missed cycles : 2).[0m ×2 + 16.29sWARNcontroller_managerOverrun might occur, Total time : 7654.083 us (Expected < 1666.667 us) --> Read time : 6978.384 us, Update time : 160.329 us, Write time : 515.370 us + 16.29sWARNros2_control_nodeOverrun might occur, Total time : 7654.083 us (Expected < 1666.667 us) --> Read time : 6978.384 us, Update time : 160.329 us, Write time : 515.370 us[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131301 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131301 ms (missed cycles : 2).[0m ×2 + 17.34sWARNcontroller_managerOverrun might occur, Total time : 3874.624 us (Expected < 1666.667 us) --> Read time : 159.889 us, Update time : 3321.693 us, Write time : 393.042 us + 17.34sWARNros2_control_nodeOverrun might occur, Total time : 3874.624 us (Expected < 1666.667 us) --> Read time : 159.889 us, Update time : 3321.693 us, Write time : 393.042 us[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270102 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270102 ms (missed cycles : 2).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110239 ms (missed cycles : 2). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110239 ms (missed cycles : 2).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279953 ms (missed cycles : 5). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279953 ms (missed cycles : 5).[0m ×2 + 20.85sWARNcontroller_managerOverrun might occur, Total time : 3246.628 us (Expected < 1666.667 us) --> Read time : 153.819 us, Update time : 2684.975 us, Write time : 407.834 us + 20.85sWARNros2_control_nodeOverrun might occur, Total time : 3246.628 us (Expected < 1666.667 us) --> Read time : 153.819 us, Update time : 2684.975 us, Write time : 407.834 us[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852260 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852260 ms (missed cycles : 2).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.464769 ms (missed cycles : 6). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.464769 ms (missed cycles : 6).[0m ×2 + 22.17sWARNcontroller_managerOverrun might occur, Total time : 2683.424 us (Expected < 1666.667 us) --> Read time : 171.710 us, Update time : 131.857 us, Write time : 2379.857 us + 22.17sWARNros2_control_nodeOverrun might occur, Total time : 2683.424 us (Expected < 1666.667 us) --> Read time : 171.710 us, Update time : 131.857 us, Write time : 2379.857 us[0m ×2 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347449 ms (missed cycles : 3). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347449 ms (missed cycles : 3).[0m ×2 + 23.84sWARNcontroller_managerOverrun might occur, Total time : 1773.473 us (Expected < 1666.667 us) --> Read time : 139.568 us, Update time : 136.908 us, Write time : 1496.997 us + 23.84sWARNros2_control_nodeOverrun might occur, Total time : 1773.473 us (Expected < 1666.667 us) --> Read time : 139.568 us, Update time : 136.908 us, Write time : 1496.997 us[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909522 ms (missed cycles : 3). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909522 ms (missed cycles : 3).[0m ×2 + 24.68sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.01sWARNcontroller_managerOverrun might occur, Total time : 3430.919 us (Expected < 1666.667 us) --> Read time : 212.172 us, Update time : 2812.853 us, Write time : 405.894 us + 25.01sWARNros2_control_nodeOverrun might occur, Total time : 3430.919 us (Expected < 1666.667 us) --> Read time : 212.172 us, Update time : 2812.853 us, Write time : 405.894 us[0m ×2 + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519163 ms (missed cycles : 3). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519163 ms (missed cycles : 3).[0m ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183057 ms (missed cycles : 4). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183057 ms (missed cycles : 4).[0m ×2 + 26.93sWARNcontroller_managerOverrun might occur, Total time : 2822.354 us (Expected < 1666.667 us) --> Read time : 132.988 us, Update time : 2368.557 us, Write time : 320.809 us + 26.93sWARNros2_control_nodeOverrun might occur, Total time : 2822.354 us (Expected < 1666.667 us) --> Read time : 132.988 us, Update time : 2368.557 us, Write time : 320.809 us[0m ×2 + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419406 ms (missed cycles : 5). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419406 ms (missed cycles : 5).[0m ×2 + 27.98sWARNcontroller_managerOverrun might occur, Total time : 2924.460 us (Expected < 1666.667 us) --> Read time : 2415.350 us, Update time : 159.609 us, Write time : 349.501 us + 27.98sWARNros2_control_nodeOverrun might occur, Total time : 2924.460 us (Expected < 1666.667 us) --> Read time : 2415.350 us, Update time : 159.609 us, Write time : 349.501 us[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192346 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192346 ms (missed cycles : 2).[0m ×2 + 29.26sWARNcontroller_managerOverrun might occur, Total time : 3315.942 us (Expected < 1666.667 us) --> Read time : 178.680 us, Update time : 2801.063 us, Write time : 336.199 us + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697341 ms (missed cycles : 3). + 29.26sWARNros2_control_nodeOverrun might occur, Total time : 3315.942 us (Expected < 1666.667 us) --> Read time : 178.680 us, Update time : 2801.063 us, Write time : 336.199 us[0m ×2 + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697341 ms (missed cycles : 3).[0m ×2 + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522762 ms (missed cycles : 3). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522762 ms (missed cycles : 3).[0m ×2 + 30.49sWARNcontroller_managerOverrun might occur, Total time : 3000.044 us (Expected < 1666.667 us) --> Read time : 136.968 us, Update time : 290.617 us, Write time : 2572.459 us + 30.49sWARNros2_control_nodeOverrun might occur, Total time : 3000.044 us (Expected < 1666.667 us) --> Read time : 136.968 us, Update time : 290.617 us, Write time : 2572.459 us[0m ×2 + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712419 ms (missed cycles : 2). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712419 ms (missed cycles : 2).[0m ×2 + 32.05sWARNcontroller_managerOverrun might occur, Total time : 2364.647 us (Expected < 1666.667 us) --> Read time : 190.271 us, Update time : 1673.277 us, Write time : 501.099 us + 32.06sWARNros2_control_nodeOverrun might occur, Total time : 2364.647 us (Expected < 1666.667 us) --> Read time : 190.271 us, Update time : 1673.277 us, Write time : 501.099 us[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415696 ms (missed cycles : 4). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415696 ms (missed cycles : 4).[0m ×2 + 32.96sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.40sWARNcontroller_managerOverrun might occur, Total time : 4473.709 us (Expected < 1666.667 us) --> Read time : 141.758 us, Update time : 3980.620 us, Write time : 351.331 us + 33.41sWARNros2_control_nodeOverrun might occur, Total time : 4473.709 us (Expected < 1666.667 us) --> Read time : 141.758 us, Update time : 3980.620 us, Write time : 351.331 us[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425000 ms (missed cycles : 3). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425000 ms (missed cycles : 3).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297800 ms (missed cycles : 2). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297800 ms (missed cycles : 2).[0m ×2 + 35.08sWARNcontroller_managerOverrun might occur, Total time : 2872.196 us (Expected < 1666.667 us) --> Read time : 152.679 us, Update time : 84.905 us, Write time : 2634.612 us + 35.08sWARNros2_control_nodeOverrun might occur, Total time : 2872.196 us (Expected < 1666.667 us) --> Read time : 152.679 us, Update time : 84.905 us, Write time : 2634.612 us[0m ×2 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.727499 ms (missed cycles : 6). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.727499 ms (missed cycles : 6).[0m ×2 + 36.38sWARNcontroller_managerOverrun might occur, Total time : 3529.703 us (Expected < 1666.667 us) --> Read time : 175.030 us, Update time : 2822.643 us, Write time : 532.030 us + 36.38sWARNros2_control_nodeOverrun might occur, Total time : 3529.703 us (Expected < 1666.667 us) --> Read time : 175.030 us, Update time : 2822.643 us, Write time : 532.030 us[0m ×2 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987269 ms (missed cycles : 2). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987269 ms (missed cycles : 2).[0m ×2 + 37.69sWARNcontroller_managerOverrun might occur, Total time : 4449.737 us (Expected < 1666.667 us) --> Read time : 155.609 us, Update time : 69.404 us, Write time : 4224.724 us + 37.69sWARNros2_control_nodeOverrun might occur, Total time : 4449.737 us (Expected < 1666.667 us) --> Read time : 155.609 us, Update time : 69.404 us, Write time : 4224.724 us[0m ×2 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.214777 ms (missed cycles : 7). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.214777 ms (missed cycles : 7).[0m ×2 + 38.75sWARNcontroller_managerOverrun might occur, Total time : 1811.795 us (Expected < 1666.667 us) --> Read time : 186.081 us, Update time : 653.008 us, Write time : 972.706 us + 38.75sWARNros2_control_nodeOverrun might occur, Total time : 1811.795 us (Expected < 1666.667 us) --> Read time : 186.081 us, Update time : 653.008 us, Write time : 972.706 us[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385276 ms (missed cycles : 2). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385276 ms (missed cycles : 2).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733810 ms (missed cycles : 2). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733810 ms (missed cycles : 2).[0m ×2 + 40.30sWARNcontroller_managerOverrun might occur, Total time : 2961.111 us (Expected < 1666.667 us) --> Read time : 125.727 us, Update time : 1273.604 us, Write time : 1561.780 us + 40.30sWARNros2_control_nodeOverrun might occur, Total time : 2961.111 us (Expected < 1666.667 us) --> Read time : 125.727 us, Update time : 1273.604 us, Write time : 1561.780 us[0m ×2 + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464793 ms (missed cycles : 3). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464793 ms (missed cycles : 3).[0m ×2 + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985900 ms (missed cycles : 2). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985900 ms (missed cycles : 2).[0m ×2 + 42.76sWARNcontroller_managerOverrun might occur, Total time : 1844.716 us (Expected < 1666.667 us) --> Read time : 1312.556 us, Update time : 192.351 us, Write time : 339.809 us + 42.76sWARNros2_control_nodeOverrun might occur, Total time : 1844.716 us (Expected < 1666.667 us) --> Read time : 1312.556 us, Update time : 192.351 us, Write time : 339.809 us[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772531 ms (missed cycles : 2). + 43.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772531 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun might occur, Total time : 1874.128 us (Expected < 1666.667 us) --> Read time : 125.137 us, Update time : 664.949 us, Write time : 1084.042 us + 43.77sWARNros2_control_nodeOverrun might occur, Total time : 1874.128 us (Expected < 1666.667 us) --> Read time : 125.137 us, Update time : 664.949 us, Write time : 1084.042 us[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342385 ms (missed cycles : 4). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342385 ms (missed cycles : 4).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287908 ms (missed cycles : 2). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287908 ms (missed cycles : 2).[0m ×2 + 45.18sWARNcontroller_managerOverrun might occur, Total time : 3019.314 us (Expected < 1666.667 us) --> Read time : 120.947 us, Update time : 2510.595 us, Write time : 387.772 us + 45.18sWARNros2_control_nodeOverrun might occur, Total time : 3019.314 us (Expected < 1666.667 us) --> Read time : 120.947 us, Update time : 2510.595 us, Write time : 387.772 us[0m ×2 + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749530 ms (missed cycles : 2). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749530 ms (missed cycles : 2).[0m ×2 + 46.64sWARNcontroller_managerOverrun might occur, Total time : 2995.164 us (Expected < 1666.667 us) --> Read time : 134.928 us, Update time : 2352.086 us, Write time : 508.150 us + 46.64sWARNros2_control_nodeOverrun might occur, Total time : 2995.164 us (Expected < 1666.667 us) --> Read time : 134.928 us, Update time : 2352.086 us, Write time : 508.150 us[0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282162 ms (missed cycles : 5). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282162 ms (missed cycles : 5).[0m ×2 + 47.95sWARNcontroller_managerOverrun might occur, Total time : 4065.476 us (Expected < 1666.667 us) --> Read time : 143.429 us, Update time : 3280.980 us, Write time : 641.067 us + 47.95sWARNros2_control_nodeOverrun might occur, Total time : 4065.476 us (Expected < 1666.667 us) --> Read time : 143.429 us, Update time : 3280.980 us, Write time : 641.067 us[0m ×2 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249504 ms (missed cycles : 2). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249504 ms (missed cycles : 2).[0m ×2 + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680523 ms (missed cycles : 5). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680523 ms (missed cycles : 5).[0m ×2 + 50.24sWARNcontroller_managerOverrun might occur, Total time : 3382.276 us (Expected < 1666.667 us) --> Read time : 162.190 us, Update time : 139.908 us, Write time : 3080.178 us + 50.24sWARNros2_control_nodeOverrun might occur, Total time : 3382.276 us (Expected < 1666.667 us) --> Read time : 162.190 us, Update time : 139.908 us, Write time : 3080.178 us[0m ×2 + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786471 ms (missed cycles : 3). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786471 ms (missed cycles : 3).[0m ×2 + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963345 ms (missed cycles : 3). + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963345 ms (missed cycles : 3).[0m ×2 + 51.73sWARNcontroller_managerOverrun might occur, Total time : 1726.719 us (Expected < 1666.667 us) --> Read time : 149.839 us, Update time : 611.425 us, Write time : 965.455 us + 51.74sWARNros2_control_nodeOverrun might occur, Total time : 1726.719 us (Expected < 1666.667 us) --> Read time : 149.839 us, Update time : 611.425 us, Write time : 965.455 us[0m ×2 + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.930722 ms (missed cycles : 6). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.930722 ms (missed cycles : 6).[0m ×2 + 52.77sWARNcontroller_managerOverrun might occur, Total time : 2178.705 us (Expected < 1666.667 us) --> Read time : 135.578 us, Update time : 335.609 us, Write time : 1707.518 us + 52.77sWARNros2_control_nodeOverrun might occur, Total time : 2178.705 us (Expected < 1666.667 us) --> Read time : 135.578 us, Update time : 335.609 us, Write time : 1707.518 us[0m ×2 + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831186 ms (missed cycles : 3). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831186 ms (missed cycles : 3).[0m ×2 + 54.12sWARNcontroller_managerOverrun might occur, Total time : 1760.683 us (Expected < 1666.667 us) --> Read time : 134.138 us, Update time : 713.432 us, Write time : 913.113 us + 54.12sWARNros2_control_nodeOverrun might occur, Total time : 1760.683 us (Expected < 1666.667 us) --> Read time : 134.138 us, Update time : 713.432 us, Write time : 913.113 us[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.806789 ms (missed cycles : 6). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.806789 ms (missed cycles : 6).[0m ×2 + 55.30sWARNcontroller_managerOverrun might occur, Total time : 2313.574 us (Expected < 1666.667 us) --> Read time : 142.538 us, Update time : 1841.047 us, Write time : 329.989 us + 55.30sWARNros2_control_nodeOverrun might occur, Total time : 2313.574 us (Expected < 1666.667 us) --> Read time : 142.538 us, Update time : 1841.047 us, Write time : 329.989 us[0m ×2 + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627105 ms (missed cycles : 2). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627105 ms (missed cycles : 2).[0m ×2 + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248556 ms (missed cycles : 2). + 56.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248556 ms (missed cycles : 2).[0m ×2 + 56.49sWARNcontroller_managerOverrun might occur, Total time : 1691.999 us (Expected < 1666.667 us) --> Read time : 718.872 us, Update time : 149.119 us, Write time : 824.008 us + 56.49sWARNros2_control_nodeOverrun might occur, Total time : 1691.999 us (Expected < 1666.667 us) --> Read time : 718.872 us, Update time : 149.119 us, Write time : 824.008 us[0m ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215289 ms (missed cycles : 2). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215289 ms (missed cycles : 2).[0m ×2 + 57.67sWARNcontroller_managerOverrun might occur, Total time : 1739.751 us (Expected < 1666.667 us) --> Read time : 1118.445 us, Update time : 201.992 us, Write time : 419.314 us + 57.67sWARNros2_control_nodeOverrun might occur, Total time : 1739.751 us (Expected < 1666.667 us) --> Read time : 1118.445 us, Update time : 201.992 us, Write time : 419.314 us[0m ×2 + 58.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692385 ms (missed cycles : 3). + 58.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692385 ms (missed cycles : 3).[0m ×2 + 58.67sWARNcontroller_managerOverrun might occur, Total time : 4289.228 us (Expected < 1666.667 us) --> Read time : 3753.867 us, Update time : 171.720 us, Write time : 363.641 us + 58.67sWARNros2_control_nodeOverrun might occur, Total time : 4289.228 us (Expected < 1666.667 us) --> Read time : 3753.867 us, Update time : 171.720 us, Write time : 363.641 us[0m ×2 + 58.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781197473.86756396 seconds ×3 + 59.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781197474.41414261 seconds. ×3 + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839943 ms (missed cycles : 3). + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839943 ms (missed cycles : 3).[0m ×2 + 59.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 59.72sWARNcontroller_managerOverrun might occur, Total time : 2932.720 us (Expected < 1666.667 us) --> Read time : 183.491 us, Update time : 141.608 us, Write time : 2607.621 us + 59.72sWARNros2_control_nodeOverrun might occur, Total time : 2932.720 us (Expected < 1666.667 us) --> Read time : 183.491 us, Update time : 141.608 us, Write time : 2607.621 us[0m ×2 + 59.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104312 ms (missed cycles : 5). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104312 ms (missed cycles : 5).[0m ×2 + 61.19sWARNcontroller_managerOverrun might occur, Total time : 1779.413 us (Expected < 1666.667 us) --> Read time : 177.551 us, Update time : 404.523 us, Write time : 1197.339 us + 61.19sWARNros2_control_nodeOverrun might occur, Total time : 1779.413 us (Expected < 1666.667 us) --> Read time : 177.551 us, Update time : 404.523 us, Write time : 1197.339 us[0m ×2 + 61.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915197 ms (missed cycles : 3). + 61.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915197 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.7s | 300 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2).[0m ×2 + 0.35sWARNcontroller_managerOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781197279.82943106 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781197280.39200211 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.70sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4).[0m ×2 + 6.94sWARNcontroller_managerOverrun might occur, Total time : 2352.856 us (Expected < 1666.667 us) --> Read time : 134.617 us, Update time : 1885.989 us, Write time : 332.250 us + 6.94sWARNros2_control_nodeOverrun might occur, Total time : 2352.856 us (Expected < 1666.667 us) --> Read time : 134.617 us, Update time : 1885.989 us, Write time : 332.250 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681377 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681377 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898405 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898405 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun might occur, Total time : 6196.910 us (Expected < 1666.667 us) --> Read time : 133.688 us, Update time : 5599.395 us, Write time : 463.827 us + 8.48sWARNros2_control_nodeOverrun might occur, Total time : 6196.910 us (Expected < 1666.667 us) --> Read time : 133.688 us, Update time : 5599.395 us, Write time : 463.827 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579957 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579957 ms (missed cycles : 4).[0m ×2 + 9.52sWARNcontroller_managerOverrun might occur, Total time : 1946.182 us (Expected < 1666.667 us) --> Read time : 124.547 us, Update time : 111.347 us, Write time : 1710.288 us + 9.52sWARNros2_control_nodeOverrun might occur, Total time : 1946.182 us (Expected < 1666.667 us) --> Read time : 124.547 us, Update time : 111.347 us, Write time : 1710.288 us[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987588 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987588 ms (missed cycles : 3).[0m ×2 + 10.56sWARNcontroller_managerOverrun might occur, Total time : 3877.185 us (Expected < 1666.667 us) --> Read time : 168.410 us, Update time : 111.227 us, Write time : 3597.548 us + 10.56sWARNros2_control_nodeOverrun might occur, Total time : 3877.185 us (Expected < 1666.667 us) --> Read time : 168.410 us, Update time : 111.227 us, Write time : 3597.548 us[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887670 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887670 ms (missed cycles : 3).[0m ×2 + 11.74sWARNcontroller_managerOverrun might occur, Total time : 9114.387 us (Expected < 1666.667 us) --> Read time : 184.431 us, Update time : 131.158 us, Write time : 8798.798 us + 11.74sWARNros2_control_nodeOverrun might occur, Total time : 9114.387 us (Expected < 1666.667 us) --> Read time : 184.431 us, Update time : 131.158 us, Write time : 8798.798 us[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992866 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992866 ms (missed cycles : 2).[0m ×2 + 13.57sWARNcontroller_managerOverrun might occur, Total time : 1690.298 us (Expected < 1666.667 us) --> Read time : 144.628 us, Update time : 133.758 us, Write time : 1411.912 us + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921372 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun might occur, Total time : 1690.298 us (Expected < 1666.667 us) --> Read time : 144.628 us, Update time : 133.758 us, Write time : 1411.912 us[0m ×2 + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921372 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599178 ms (missed cycles : 6). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599178 ms (missed cycles : 6).[0m ×2 + 15.02sWARNcontroller_managerOverrun might occur, Total time : 3795.009 us (Expected < 1666.667 us) --> Read time : 156.419 us, Update time : 128.867 us, Write time : 3509.723 us + 15.02sWARNros2_control_nodeOverrun might occur, Total time : 3795.009 us (Expected < 1666.667 us) --> Read time : 156.419 us, Update time : 128.867 us, Write time : 3509.723 us[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333643 ms (missed cycles : 6). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333643 ms (missed cycles : 6).[0m ×2 + 16.14sWARNcontroller_managerOverrun might occur, Total time : 2117.062 us (Expected < 1666.667 us) --> Read time : 208.292 us, Update time : 1493.766 us, Write time : 415.004 us + 16.14sWARNros2_control_nodeOverrun might occur, Total time : 2117.062 us (Expected < 1666.667 us) --> Read time : 208.292 us, Update time : 1493.766 us, Write time : 415.004 us[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806808 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806808 ms (missed cycles : 2).[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995617 ms (missed cycles : 6). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995617 ms (missed cycles : 6).[0m ×2 + 17.89sWARNcontroller_managerOverrun might occur, Total time : 1858.628 us (Expected < 1666.667 us) --> Read time : 202.992 us, Update time : 161.350 us, Write time : 1494.286 us + 17.90sWARNros2_control_nodeOverrun might occur, Total time : 1858.628 us (Expected < 1666.667 us) --> Read time : 202.992 us, Update time : 161.350 us, Write time : 1494.286 us[0m ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.509756 ms (missed cycles : 7). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.509756 ms (missed cycles : 7).[0m ×2 + 19.21sWARNcontroller_managerOverrun might occur, Total time : 2016.266 us (Expected < 1666.667 us) --> Read time : 1426.892 us, Update time : 145.358 us, Write time : 444.016 us + 19.21sWARNros2_control_nodeOverrun might occur, Total time : 2016.266 us (Expected < 1666.667 us) --> Read time : 1426.892 us, Update time : 145.358 us, Write time : 444.016 us[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579316 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579316 ms (missed cycles : 2).[0m ×2 + 20.37sWARNcontroller_managerOverrun might occur, Total time : 7505.444 us (Expected < 1666.667 us) --> Read time : 122.197 us, Update time : 6818.584 us, Write time : 564.663 us + 20.37sWARNros2_control_nodeOverrun might occur, Total time : 7505.444 us (Expected < 1666.667 us) --> Read time : 122.197 us, Update time : 6818.584 us, Write time : 564.663 us[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110295 ms (missed cycles : 2). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110295 ms (missed cycles : 2).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053796 ms (missed cycles : 2). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053796 ms (missed cycles : 2).[0m ×2 + 22.07sWARNcontroller_managerOverrun might occur, Total time : 3997.282 us (Expected < 1666.667 us) --> Read time : 166.200 us, Update time : 390.092 us, Write time : 3440.990 us + 22.07sWARNros2_control_nodeOverrun might occur, Total time : 3997.282 us (Expected < 1666.667 us) --> Read time : 166.200 us, Update time : 390.092 us, Write time : 3440.990 us[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151466 ms (missed cycles : 2). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151466 ms (missed cycles : 2).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914095 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914095 ms (missed cycles : 3).[0m ×2 + 24.37sWARNcontroller_managerOverrun might occur, Total time : 3670.832 us (Expected < 1666.667 us) --> Read time : 142.708 us, Update time : 3030.505 us, Write time : 497.619 us + 24.37sWARNros2_control_nodeOverrun might occur, Total time : 3670.832 us (Expected < 1666.667 us) --> Read time : 142.708 us, Update time : 3030.505 us, Write time : 497.619 us[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431008 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431008 ms (missed cycles : 3).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886521 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886521 ms (missed cycles : 3).[0m ×2 + 26.17sWARNcontroller_managerOverrun might occur, Total time : 3551.546 us (Expected < 1666.667 us) --> Read time : 117.497 us, Update time : 3099.549 us, Write time : 334.500 us + 26.17sWARNros2_control_nodeOverrun might occur, Total time : 3551.546 us (Expected < 1666.667 us) --> Read time : 117.497 us, Update time : 3099.549 us, Write time : 334.500 us[0m ×2 + 27.17sWARNcontroller_managerOverrun might occur, Total time : 3305.362 us (Expected < 1666.667 us) --> Read time : 122.378 us, Update time : 154.369 us, Write time : 3028.615 us + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945428 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun might occur, Total time : 3305.362 us (Expected < 1666.667 us) --> Read time : 122.378 us, Update time : 154.369 us, Write time : 3028.615 us[0m ×2 + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945428 ms (missed cycles : 3).[0m ×2 + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076802 ms (missed cycles : 4). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076802 ms (missed cycles : 4).[0m ×2 + 28.60sWARNcontroller_managerOverrun might occur, Total time : 4228.724 us (Expected < 1666.667 us) --> Read time : 118.037 us, Update time : 3675.352 us, Write time : 435.335 us + 28.60sWARNros2_control_nodeOverrun might occur, Total time : 4228.724 us (Expected < 1666.667 us) --> Read time : 118.037 us, Update time : 3675.352 us, Write time : 435.335 us[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578609 ms (missed cycles : 4). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578609 ms (missed cycles : 4).[0m ×2 + 29.96sWARNcontroller_managerOverrun might occur, Total time : 3780.669 us (Expected < 1666.667 us) --> Read time : 136.848 us, Update time : 3258.989 us, Write time : 384.832 us + 29.96sWARNros2_control_nodeOverrun might occur, Total time : 3780.669 us (Expected < 1666.667 us) --> Read time : 136.848 us, Update time : 3258.989 us, Write time : 384.832 us[0m ×2 + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250684 ms (missed cycles : 5). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250684 ms (missed cycles : 5).[0m ×2 + 31.04sWARNcontroller_managerOverrun might occur, Total time : 2295.833 us (Expected < 1666.667 us) --> Read time : 142.818 us, Update time : 1745.561 us, Write time : 407.454 us + 31.04sWARNros2_control_nodeOverrun might occur, Total time : 2295.833 us (Expected < 1666.667 us) --> Read time : 142.818 us, Update time : 1745.561 us, Write time : 407.454 us[0m ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750151 ms (missed cycles : 3). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750151 ms (missed cycles : 3).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327235 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327235 ms (missed cycles : 2).[0m ×2 + 32.61sWARNcontroller_managerOverrun might occur, Total time : 1668.097 us (Expected < 1666.667 us) --> Read time : 132.998 us, Update time : 1115.594 us, Write time : 419.505 us + 32.61sWARNros2_control_nodeOverrun might occur, Total time : 1668.097 us (Expected < 1666.667 us) --> Read time : 132.998 us, Update time : 1115.594 us, Write time : 419.505 us[0m ×2 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801838 ms (missed cycles : 3). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801838 ms (missed cycles : 3).[0m ×2 + 33.58sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.22sINFOobjective_server_nodePlanning for 57 path waypoints. ×3 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806720 ms (missed cycles : 3). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806720 ms (missed cycles : 3).[0m ×2 + 34.88sWARNcontroller_managerOverrun might occur, Total time : 3704.235 us (Expected < 1666.667 us) --> Read time : 153.009 us, Update time : 3190.705 us, Write time : 360.521 us + 34.88sWARNros2_control_nodeOverrun might occur, Total time : 3704.235 us (Expected < 1666.667 us) --> Read time : 153.009 us, Update time : 3190.705 us, Write time : 360.521 us[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206191 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206191 ms (missed cycles : 2).[0m ×2 + 36.29sWARNcontroller_managerOverrun might occur, Total time : 3829.782 us (Expected < 1666.667 us) --> Read time : 115.357 us, Update time : 3345.334 us, Write time : 369.091 us + 36.29sWARNros2_control_nodeOverrun might occur, Total time : 3829.782 us (Expected < 1666.667 us) --> Read time : 115.357 us, Update time : 3345.334 us, Write time : 369.091 us[0m ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907463 ms (missed cycles : 2). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907463 ms (missed cycles : 2).[0m ×2 + 37.56sWARNcontroller_managerOverrun might occur, Total time : 1862.058 us (Expected < 1666.667 us) --> Read time : 125.767 us, Update time : 1168.658 us, Write time : 567.633 us + 37.56sWARNros2_control_nodeOverrun might occur, Total time : 1862.058 us (Expected < 1666.667 us) --> Read time : 125.767 us, Update time : 1168.658 us, Write time : 567.633 us[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819342 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819342 ms (missed cycles : 2).[0m ×2 + 38.59sWARNcontroller_managerOverrun might occur, Total time : 2139.095 us (Expected < 1666.667 us) --> Read time : 1492.927 us, Update time : 164.030 us, Write time : 482.138 us + 38.59sWARNros2_control_nodeOverrun might occur, Total time : 2139.095 us (Expected < 1666.667 us) --> Read time : 1492.927 us, Update time : 164.030 us, Write time : 482.138 us[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.165201 ms (missed cycles : 5). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.165201 ms (missed cycles : 5).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203111 ms (missed cycles : 4). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203111 ms (missed cycles : 4).[0m ×2 + 40.44sWARNcontroller_managerOverrun might occur, Total time : 1835.766 us (Expected < 1666.667 us) --> Read time : 385.192 us, Update time : 407.763 us, Write time : 1042.811 us + 40.44sWARNros2_control_nodeOverrun might occur, Total time : 1835.766 us (Expected < 1666.667 us) --> Read time : 385.192 us, Update time : 407.763 us, Write time : 1042.811 us[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034225 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034225 ms (missed cycles : 2).[0m ×2 + 41.78sWARNcontroller_managerOverrun might occur, Total time : 2270.531 us (Expected < 1666.667 us) --> Read time : 134.717 us, Update time : 1835.707 us, Write time : 300.107 us + 41.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459973 ms (missed cycles : 2). + 41.78sWARNros2_control_nodeOverrun might occur, Total time : 2270.531 us (Expected < 1666.667 us) --> Read time : 134.717 us, Update time : 1835.707 us, Write time : 300.107 us[0m ×2 + 41.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459973 ms (missed cycles : 2).[0m ×2 + 42.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894183 ms (missed cycles : 5). + 42.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894183 ms (missed cycles : 5).[0m ×2 + 43.32sWARNcontroller_managerOverrun might occur, Total time : 1782.903 us (Expected < 1666.667 us) --> Read time : 1298.925 us, Update time : 155.399 us, Write time : 328.579 us + 43.32sWARNros2_control_nodeOverrun might occur, Total time : 1782.903 us (Expected < 1666.667 us) --> Read time : 1298.925 us, Update time : 155.399 us, Write time : 328.579 us[0m ×2 + 43.41sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560789 ms (missed cycles : 3). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560789 ms (missed cycles : 3).[0m ×2 + 44.36sWARNcontroller_managerOverrun might occur, Total time : 2759.569 us (Expected < 1666.667 us) --> Read time : 126.077 us, Update time : 2294.293 us, Write time : 339.199 us + 44.36sWARNros2_control_nodeOverrun might occur, Total time : 2759.569 us (Expected < 1666.667 us) --> Read time : 126.077 us, Update time : 2294.293 us, Write time : 339.199 us[0m ×2 + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267979 ms (missed cycles : 2). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267979 ms (missed cycles : 2).[0m ×2 + 45.47sWARNcontroller_managerOverrun might occur, Total time : 2129.044 us (Expected < 1666.667 us) --> Read time : 120.127 us, Update time : 137.408 us, Write time : 1871.509 us + 45.47sWARNros2_control_nodeOverrun might occur, Total time : 2129.044 us (Expected < 1666.667 us) --> Read time : 120.127 us, Update time : 137.408 us, Write time : 1871.509 us[0m ×2 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306892 ms (missed cycles : 5). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306892 ms (missed cycles : 5).[0m ×2 + 46.50sWARNcontroller_managerOverrun might occur, Total time : 1712.400 us (Expected < 1666.667 us) --> Read time : 157.669 us, Update time : 1085.363 us, Write time : 469.368 us + 46.50sWARNros2_control_nodeOverrun might occur, Total time : 1712.400 us (Expected < 1666.667 us) --> Read time : 157.669 us, Update time : 1085.363 us, Write time : 469.368 us[0m ×2 + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881636 ms (missed cycles : 3). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881636 ms (missed cycles : 3).[0m ×2 + 47.74sWARNcontroller_managerOverrun might occur, Total time : 2380.428 us (Expected < 1666.667 us) --> Read time : 171.570 us, Update time : 1836.376 us, Write time : 372.482 us + 47.74sWARNros2_control_nodeOverrun might occur, Total time : 2380.428 us (Expected < 1666.667 us) --> Read time : 171.570 us, Update time : 1836.376 us, Write time : 372.482 us[0m ×2 + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220618 ms (missed cycles : 3). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220618 ms (missed cycles : 3).[0m ×2 + 49.08sWARNcontroller_managerOverrun might occur, Total time : 2102.602 us (Expected < 1666.667 us) --> Read time : 480.758 us, Update time : 475.168 us, Write time : 1146.676 us + 49.08sWARNros2_control_nodeOverrun might occur, Total time : 2102.602 us (Expected < 1666.667 us) --> Read time : 480.758 us, Update time : 475.168 us, Write time : 1146.676 us[0m ×2 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060467 ms (missed cycles : 4). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060467 ms (missed cycles : 4).[0m ×2 + 50.19sWARNcontroller_managerOverrun might occur, Total time : 9795.019 us (Expected < 1666.667 us) --> Read time : 9102.919 us, Update time : 169.340 us, Write time : 522.760 us + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986610 ms (missed cycles : 6). + 50.20sWARNros2_control_nodeOverrun might occur, Total time : 9795.019 us (Expected < 1666.667 us) --> Read time : 9102.919 us, Update time : 169.340 us, Write time : 522.760 us[0m ×2 + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986610 ms (missed cycles : 6).[0m ×2 + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799170 ms (missed cycles : 5). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799170 ms (missed cycles : 5).[0m ×2 + 51.40sWARNcontroller_managerOverrun might occur, Total time : 1682.608 us (Expected < 1666.667 us) --> Read time : 399.093 us, Update time : 589.575 us, Write time : 693.940 us + 51.40sWARNros2_control_nodeOverrun might occur, Total time : 1682.608 us (Expected < 1666.667 us) --> Read time : 399.093 us, Update time : 589.575 us, Write time : 693.940 us[0m ×2 + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922201 ms (missed cycles : 2). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922201 ms (missed cycles : 2).[0m ×2 + 52.56sWARNcontroller_managerOverrun might occur, Total time : 7564.419 us (Expected < 1666.667 us) --> Read time : 146.058 us, Update time : 375.861 us, Write time : 7042.500 us + 52.56sWARNros2_control_nodeOverrun might occur, Total time : 7564.419 us (Expected < 1666.667 us) --> Read time : 146.058 us, Update time : 375.861 us, Write time : 7042.500 us[0m ×2 + 53.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987547 ms (missed cycles : 2). + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987547 ms (missed cycles : 2).[0m ×2 + 53.90sWARNcontroller_managerOverrun might occur, Total time : 2746.559 us (Expected < 1666.667 us) --> Read time : 142.978 us, Update time : 2293.663 us, Write time : 309.918 us + 53.90sWARNros2_control_nodeOverrun might occur, Total time : 2746.559 us (Expected < 1666.667 us) --> Read time : 142.978 us, Update time : 2293.663 us, Write time : 309.918 us[0m ×2 + 54.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418968 ms (missed cycles : 2). + 54.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418968 ms (missed cycles : 2).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271193 ms (missed cycles : 2). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271193 ms (missed cycles : 2).[0m ×2 + 55.40sWARNcontroller_managerOverrun might occur, Total time : 1806.614 us (Expected < 1666.667 us) --> Read time : 162.199 us, Update time : 578.934 us, Write time : 1065.481 us + 55.40sWARNros2_control_nodeOverrun might occur, Total time : 1806.614 us (Expected < 1666.667 us) --> Read time : 162.199 us, Update time : 578.934 us, Write time : 1065.481 us[0m ×2 + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796962 ms (missed cycles : 6). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796962 ms (missed cycles : 6).[0m ×2 + 57.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781197333.50216699 seconds ×3 + 57.41sWARNcontroller_managerOverrun might occur, Total time : 3838.031 us (Expected < 1666.667 us) --> Read time : 154.069 us, Update time : 3201.565 us, Write time : 482.397 us + 57.41sWARNros2_control_nodeOverrun might occur, Total time : 3838.031 us (Expected < 1666.667 us) --> Read time : 154.069 us, Update time : 3201.565 us, Write time : 482.397 us[0m ×2 + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024113 ms (missed cycles : 4). + 57.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024113 ms (missed cycles : 4).[0m ×2 + 57.72sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781197334.04785919 seconds. ×3 + 58.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993811 ms (missed cycles : 3). + 58.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993811 ms (missed cycles : 3).[0m ×2 + 59.13sWARNcontroller_managerOverrun might occur, Total time : 6090.273 us (Expected < 1666.667 us) --> Read time : 156.149 us, Update time : 391.873 us, Write time : 5542.251 us + 59.13sWARNros2_control_nodeOverrun might occur, Total time : 6090.273 us (Expected < 1666.667 us) --> Read time : 156.149 us, Update time : 391.873 us, Write time : 5542.251 us[0m ×2 + 59.34sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579513 ms (missed cycles : 3). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579513 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.8s | 258 warnings · 195 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.01sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.01sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.01sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.09sINFOplatform_velocity_controller_nav2configure successful + 0.09sINFOros2_control_nodeconfigure successful[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 0.51sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 0.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.81sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.81sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.57sINFOmove_groupClearing octomap...[0m ×2 + 1.57sINFOmove_groupOctomap cleared.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.18sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.18sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 3.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.07sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.07sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117154 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117154 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun might occur, Total time : 1770.742 us (Expected < 1666.667 us) --> Read time : 183.110 us, Update time : 1178.198 us, Write time : 409.434 us + 7.20sWARNros2_control_nodeOverrun might occur, Total time : 1770.742 us (Expected < 1666.667 us) --> Read time : 183.110 us, Update time : 1178.198 us, Write time : 409.434 us[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539475 ms (missed cycles : 4). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539475 ms (missed cycles : 4).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286607 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286607 ms (missed cycles : 2).[0m ×2 + 9.02sWARNcontroller_managerOverrun might occur, Total time : 1724.789 us (Expected < 1666.667 us) --> Read time : 134.698 us, Update time : 116.146 us, Write time : 1473.945 us + 9.02sWARNros2_control_nodeOverrun might occur, Total time : 1724.789 us (Expected < 1666.667 us) --> Read time : 134.698 us, Update time : 116.146 us, Write time : 1473.945 us[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841805 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841805 ms (missed cycles : 3).[0m ×2 + 10.56sWARNcontroller_managerOverrun might occur, Total time : 7209.186 us (Expected < 1666.667 us) --> Read time : 126.178 us, Update time : 6429.160 us, Write time : 653.848 us + 10.56sWARNros2_control_nodeOverrun might occur, Total time : 7209.186 us (Expected < 1666.667 us) --> Read time : 126.178 us, Update time : 6429.160 us, Write time : 653.848 us[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559304 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559304 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun might occur, Total time : 1856.335 us (Expected < 1666.667 us) --> Read time : 208.091 us, Update time : 688.349 us, Write time : 959.895 us + 11.81sWARNros2_control_nodeOverrun might occur, Total time : 1856.335 us (Expected < 1666.667 us) --> Read time : 208.091 us, Update time : 688.349 us, Write time : 959.895 us[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491512 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491512 ms (missed cycles : 3).[0m ×2 + 12.93sWARNcontroller_managerOverrun might occur, Total time : 2754.639 us (Expected < 1666.667 us) --> Read time : 170.280 us, Update time : 2186.816 us, Write time : 397.543 us + 12.93sWARNros2_control_nodeOverrun might occur, Total time : 2754.639 us (Expected < 1666.667 us) --> Read time : 170.280 us, Update time : 2186.816 us, Write time : 397.543 us[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152289 ms (missed cycles : 5). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152289 ms (missed cycles : 5).[0m ×2 + 14.11sWARNcontroller_managerOverrun might occur, Total time : 1829.746 us (Expected < 1666.667 us) --> Read time : 142.178 us, Update time : 133.698 us, Write time : 1553.870 us + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033361 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun might occur, Total time : 1829.746 us (Expected < 1666.667 us) --> Read time : 142.178 us, Update time : 133.698 us, Write time : 1553.870 us[0m ×2 + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033361 ms (missed cycles : 2).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411286 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411286 ms (missed cycles : 2).[0m ×2 + 15.35sWARNcontroller_managerOverrun might occur, Total time : 2706.026 us (Expected < 1666.667 us) --> Read time : 2209.487 us, Update time : 134.358 us, Write time : 362.181 us + 15.35sWARNros2_control_nodeOverrun might occur, Total time : 2706.026 us (Expected < 1666.667 us) --> Read time : 2209.487 us, Update time : 134.358 us, Write time : 362.181 us[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720004 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720004 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun might occur, Total time : 2555.207 us (Expected < 1666.667 us) --> Read time : 162.969 us, Update time : 2002.236 us, Write time : 390.002 us + 16.63sWARNros2_control_nodeOverrun might occur, Total time : 2555.207 us (Expected < 1666.667 us) --> Read time : 162.969 us, Update time : 2002.236 us, Write time : 390.002 us[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122365 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122365 ms (missed cycles : 2).[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108179 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108179 ms (missed cycles : 3).[0m ×2 + 18.49sWARNcontroller_managerOverrun might occur, Total time : 2014.666 us (Expected < 1666.667 us) --> Read time : 248.934 us, Update time : 164.060 us, Write time : 1601.672 us + 18.49sWARNros2_control_nodeOverrun might occur, Total time : 2014.666 us (Expected < 1666.667 us) --> Read time : 248.934 us, Update time : 164.060 us, Write time : 1601.672 us[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553105 ms (missed cycles : 4). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553105 ms (missed cycles : 4).[0m ×2 + 19.84sWARNcontroller_managerOverrun might occur, Total time : 2618.711 us (Expected < 1666.667 us) --> Read time : 132.618 us, Update time : 2093.630 us, Write time : 392.463 us + 19.84sWARNros2_control_nodeOverrun might occur, Total time : 2618.711 us (Expected < 1666.667 us) --> Read time : 132.618 us, Update time : 2093.630 us, Write time : 392.463 us[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369850 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369850 ms (missed cycles : 3).[0m ×2 + 21.07sWARNcontroller_managerOverrun might occur, Total time : 4502.739 us (Expected < 1666.667 us) --> Read time : 127.718 us, Update time : 3988.989 us, Write time : 386.032 us + 21.08sWARNros2_control_nodeOverrun might occur, Total time : 4502.739 us (Expected < 1666.667 us) --> Read time : 127.718 us, Update time : 3988.989 us, Write time : 386.032 us[0m ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845557 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845557 ms (missed cycles : 3).[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871641 ms (missed cycles : 3). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871641 ms (missed cycles : 3).[0m ×2 + 22.64sWARNcontroller_managerOverrun might occur, Total time : 2126.032 us (Expected < 1666.667 us) --> Read time : 193.471 us, Update time : 1575.401 us, Write time : 357.160 us + 22.64sWARNros2_control_nodeOverrun might occur, Total time : 2126.032 us (Expected < 1666.667 us) --> Read time : 193.471 us, Update time : 1575.401 us, Write time : 357.160 us[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908406 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908406 ms (missed cycles : 2).[0m ×2 + 23.71sWARNcontroller_managerOverrun might occur, Total time : 2887.926 us (Expected < 1666.667 us) --> Read time : 163.669 us, Update time : 2254.510 us, Write time : 469.747 us + 23.72sWARNros2_control_nodeOverrun might occur, Total time : 2887.926 us (Expected < 1666.667 us) --> Read time : 163.669 us, Update time : 2254.510 us, Write time : 469.747 us[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984165 ms (missed cycles : 5). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984165 ms (missed cycles : 5).[0m ×2 + 25.10sWARNcontroller_managerOverrun might occur, Total time : 5097.163 us (Expected < 1666.667 us) --> Read time : 160.809 us, Update time : 95.685 us, Write time : 4840.669 us + 25.10sWARNros2_control_nodeOverrun might occur, Total time : 5097.163 us (Expected < 1666.667 us) --> Read time : 160.809 us, Update time : 95.685 us, Write time : 4840.669 us[0m ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.134238 ms (missed cycles : 7). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.134238 ms (missed cycles : 7).[0m ×2 + 26.33sWARNcontroller_managerOverrun might occur, Total time : 1782.793 us (Expected < 1666.667 us) --> Read time : 213.763 us, Update time : 1184.868 us, Write time : 384.162 us + 26.33sWARNros2_control_nodeOverrun might occur, Total time : 1782.793 us (Expected < 1666.667 us) --> Read time : 213.763 us, Update time : 1184.868 us, Write time : 384.162 us[0m ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.788924 ms (missed cycles : 6). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.788924 ms (missed cycles : 6).[0m ×2 + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004992 ms (missed cycles : 2). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004992 ms (missed cycles : 2).[0m ×2 + 28.56sWARNcontroller_managerOverrun might occur, Total time : 2040.707 us (Expected < 1666.667 us) --> Read time : 145.088 us, Update time : 89.645 us, Write time : 1805.974 us + 28.57sWARNros2_control_nodeOverrun might occur, Total time : 2040.707 us (Expected < 1666.667 us) --> Read time : 145.088 us, Update time : 89.645 us, Write time : 1805.974 us[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503072 ms (missed cycles : 3). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503072 ms (missed cycles : 3).[0m ×2 + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662140 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662140 ms (missed cycles : 2).[0m ×2 + 30.24sWARNcontroller_managerOverrun might occur, Total time : 3474.399 us (Expected < 1666.667 us) --> Read time : 142.778 us, Update time : 156.899 us, Write time : 3174.722 us + 30.24sWARNros2_control_nodeOverrun might occur, Total time : 3474.399 us (Expected < 1666.667 us) --> Read time : 142.778 us, Update time : 156.899 us, Write time : 3174.722 us[0m ×2 + 30.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.088509 ms (missed cycles : 7). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.088509 ms (missed cycles : 7).[0m ×2 + 31.78sWARNcontroller_managerOverrun might occur, Total time : 1958.563 us (Expected < 1666.667 us) --> Read time : 170.550 us, Update time : 163.909 us, Write time : 1624.104 us + 31.78sWARNros2_control_nodeOverrun might occur, Total time : 1958.563 us (Expected < 1666.667 us) --> Read time : 170.550 us, Update time : 163.909 us, Write time : 1624.104 us[0m ×2 + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095403 ms (missed cycles : 2). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095403 ms (missed cycles : 2).[0m ×2 + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771027 ms (missed cycles : 3). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771027 ms (missed cycles : 3).[0m ×2 + 33.00sWARNcontroller_managerOverrun might occur, Total time : 1706.918 us (Expected < 1666.667 us) --> Read time : 221.773 us, Update time : 155.969 us, Write time : 1329.176 us + 33.00sWARNros2_control_nodeOverrun might occur, Total time : 1706.918 us (Expected < 1666.667 us) --> Read time : 221.773 us, Update time : 155.969 us, Write time : 1329.176 us[0m ×2 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769038 ms (missed cycles : 5). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769038 ms (missed cycles : 5).[0m ×2 + 34.32sWARNcontroller_managerOverrun might occur, Total time : 2767.699 us (Expected < 1666.667 us) --> Read time : 155.549 us, Update time : 80.584 us, Write time : 2531.566 us + 34.32sWARNros2_control_nodeOverrun might occur, Total time : 2767.699 us (Expected < 1666.667 us) --> Read time : 155.549 us, Update time : 80.584 us, Write time : 2531.566 us[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 35.86sWARNcontroller_managerOverrun might occur, Total time : 1981.554 us (Expected < 1666.667 us) --> Read time : 168.510 us, Update time : 1103.533 us, Write time : 709.511 us + 35.86sWARNros2_control_nodeOverrun might occur, Total time : 1981.554 us (Expected < 1666.667 us) --> Read time : 168.510 us, Update time : 1103.533 us, Write time : 709.511 us[0m ×2 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369360 ms (missed cycles : 6). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369360 ms (missed cycles : 6).[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528889 ms (missed cycles : 3). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528889 ms (missed cycles : 3).[0m ×2 + 37.22sWARNcontroller_managerOverrun might occur, Total time : 2711.076 us (Expected < 1666.667 us) --> Read time : 254.944 us, Update time : 2003.636 us, Write time : 452.496 us + 37.23sWARNros2_control_nodeOverrun might occur, Total time : 2711.076 us (Expected < 1666.667 us) --> Read time : 254.944 us, Update time : 2003.636 us, Write time : 452.496 us[0m ×2 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621487 ms (missed cycles : 2). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621487 ms (missed cycles : 2).[0m ×2 + 38.44sWARNcontroller_managerOverrun might occur, Total time : 2502.634 us (Expected < 1666.667 us) --> Read time : 142.288 us, Update time : 183.480 us, Write time : 2176.866 us + 38.44sWARNros2_control_nodeOverrun might occur, Total time : 2502.634 us (Expected < 1666.667 us) --> Read time : 142.288 us, Update time : 183.480 us, Write time : 2176.866 us[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603616 ms (missed cycles : 3). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603616 ms (missed cycles : 3).[0m ×2 + 39.71sWARNcontroller_managerOverrun might occur, Total time : 1832.216 us (Expected < 1666.667 us) --> Read time : 161.500 us, Update time : 1329.296 us, Write time : 341.420 us + 39.71sWARNros2_control_nodeOverrun might occur, Total time : 1832.216 us (Expected < 1666.667 us) --> Read time : 161.500 us, Update time : 1329.296 us, Write time : 341.420 us[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107994 ms (missed cycles : 5). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107994 ms (missed cycles : 5).[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984804 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984804 ms (missed cycles : 2).[0m ×2 + 41.43sWARNcontroller_managerOverrun might occur, Total time : 2189.419 us (Expected < 1666.667 us) --> Read time : 183.861 us, Update time : 191.461 us, Write time : 1814.097 us + 41.43sWARNros2_control_nodeOverrun might occur, Total time : 2189.419 us (Expected < 1666.667 us) --> Read time : 183.861 us, Update time : 191.461 us, Write time : 1814.097 us[0m ×2 + 42.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161254 ms (missed cycles : 3). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161254 ms (missed cycles : 3).[0m ×2 + 43.38sWARNcontroller_managerOverrun might occur, Total time : 5542.136 us (Expected < 1666.667 us) --> Read time : 258.275 us, Update time : 4874.647 us, Write time : 409.214 us + 43.38sWARNros2_control_nodeOverrun might occur, Total time : 5542.136 us (Expected < 1666.667 us) --> Read time : 258.275 us, Update time : 4874.647 us, Write time : 409.214 us[0m ×2 + 43.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314453 ms (missed cycles : 2). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314453 ms (missed cycles : 2).[0m ×2 + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5).[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5).[0m ×2 + 45.58sWARNcontroller_managerOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us + 45.58sWARNros2_control_nodeOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us[0m ×2 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3).[0m ×2 + 46.80sWARNcontroller_managerOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us + 46.80sWARNros2_control_nodeOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us[0m ×2 + 47.27sINFOjoint_trajectory_controllerGoal reached, success! + 47.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781197182.68424368 seconds ×3 + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2). + 47.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2).[0m ×2 + 47.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781197183.23469877 seconds. ×3 + 48.17sWARNcontroller_managerOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us + 48.17sWARNros2_control_nodeOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us[0m ×2 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4).[0m ×2 + 48.81sINFOobjective_server_nodeFound path in 0 iterations (5.4174e-05 s). ×2 + 48.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.30sWARNcontroller_managerOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us + 49.30sWARNros2_control_nodeOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us[0m ×2 + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 174 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1803.604 us (Expected < 1666.667 us) --> Read time : 214.582 us, Update time : 1082.153 us, Write time : 506.869 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 1803.604 us (Expected < 1666.667 us) --> Read time : 214.582 us, Update time : 1082.153 us, Write time : 506.869 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343297 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343297 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.25sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.26sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781197248.02622890 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179682 ms (missed cycles : 7). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179682 ms (missed cycles : 7).[0m ×2 + 2.87sWARNcontroller_managerOverrun might occur, Total time : 2129.013 us (Expected < 1666.667 us) --> Read time : 134.458 us, Update time : 1687.538 us, Write time : 307.017 us + 2.87sWARNros2_control_nodeOverrun might occur, Total time : 2129.013 us (Expected < 1666.667 us) --> Read time : 134.458 us, Update time : 1687.538 us, Write time : 307.017 us[0m ×2 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165420 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165420 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781197249.57822609 seconds. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 3792.230 us (Expected < 1666.667 us) --> Read time : 155.689 us, Update time : 78.394 us, Write time : 3558.147 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 3792.230 us (Expected < 1666.667 us) --> Read time : 155.689 us, Update time : 78.394 us, Write time : 3558.147 us[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175065 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175065 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326779 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326779 ms (missed cycles : 5).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 2363.637 us (Expected < 1666.667 us) --> Read time : 128.597 us, Update time : 389.613 us, Write time : 1845.427 us + 5.67sWARNros2_control_nodeOverrun might occur, Total time : 2363.637 us (Expected < 1666.667 us) --> Read time : 128.597 us, Update time : 389.613 us, Write time : 1845.427 us[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124682 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124682 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun might occur, Total time : 4938.146 us (Expected < 1666.667 us) --> Read time : 160.869 us, Update time : 4454.078 us, Write time : 323.199 us + 7.27sWARNros2_control_nodeOverrun might occur, Total time : 4938.146 us (Expected < 1666.667 us) --> Read time : 160.869 us, Update time : 4454.078 us, Write time : 323.199 us[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256151 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256151 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373728 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373728 ms (missed cycles : 3).[0m ×2 + 8.92sWARNcontroller_managerOverrun might occur, Total time : 4121.299 us (Expected < 1666.667 us) --> Read time : 166.860 us, Update time : 101.936 us, Write time : 3852.503 us + 8.92sWARNros2_control_nodeOverrun might occur, Total time : 4121.299 us (Expected < 1666.667 us) --> Read time : 166.860 us, Update time : 101.936 us, Write time : 3852.503 us[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681545 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681545 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324185 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324185 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217951 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217951 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080595 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080595 ms (missed cycles : 2).[0m ×2 + 13.31sWARNcontroller_managerOverrun might occur, Total time : 1843.837 us (Expected < 1666.667 us) --> Read time : 146.309 us, Update time : 117.267 us, Write time : 1580.261 us + 13.31sWARNros2_control_nodeOverrun might occur, Total time : 1843.837 us (Expected < 1666.667 us) --> Read time : 146.309 us, Update time : 117.267 us, Write time : 1580.261 us[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977418 ms (missed cycles : 6). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977418 ms (missed cycles : 6).[0m ×2 + 13.97sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141955 ms (missed cycles : 5). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141955 ms (missed cycles : 5).[0m ×2 + 15.23sWARNcontroller_managerOverrun might occur, Total time : 2107.192 us (Expected < 1666.667 us) --> Read time : 189.201 us, Update time : 162.449 us, Write time : 1755.542 us + 15.23sWARNros2_control_nodeOverrun might occur, Total time : 2107.192 us (Expected < 1666.667 us) --> Read time : 189.201 us, Update time : 162.449 us, Write time : 1755.542 us[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313323 ms (missed cycles : 5). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313323 ms (missed cycles : 5).[0m ×2 + 16.82sWARNcontroller_managerOverrun might occur, Total time : 3325.933 us (Expected < 1666.667 us) --> Read time : 102.676 us, Update time : 2853.945 us, Write time : 369.312 us + 16.82sWARNros2_control_nodeOverrun might occur, Total time : 3325.933 us (Expected < 1666.667 us) --> Read time : 102.676 us, Update time : 2853.945 us, Write time : 369.312 us[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273920 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273920 ms (missed cycles : 2).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130074 ms (missed cycles : 5). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130074 ms (missed cycles : 5).[0m ×2 + 18.28sWARNcontroller_managerOverrun might occur, Total time : 3655.071 us (Expected < 1666.667 us) --> Read time : 764.484 us, Update time : 2539.917 us, Write time : 350.670 us + 18.28sWARNros2_control_nodeOverrun might occur, Total time : 3655.071 us (Expected < 1666.667 us) --> Read time : 764.484 us, Update time : 2539.917 us, Write time : 350.670 us[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136644 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136644 ms (missed cycles : 2).[0m ×2 + 19.64sWARNcontroller_managerOverrun might occur, Total time : 2296.223 us (Expected < 1666.667 us) --> Read time : 173.610 us, Update time : 125.307 us, Write time : 1997.306 us + 19.64sWARNros2_control_nodeOverrun might occur, Total time : 2296.223 us (Expected < 1666.667 us) --> Read time : 173.610 us, Update time : 125.307 us, Write time : 1997.306 us[0m ×2 + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233410 ms (missed cycles : 3). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233410 ms (missed cycles : 3).[0m ×2 + 20.98sWARNcontroller_managerOverrun might occur, Total time : 2225.089 us (Expected < 1666.667 us) --> Read time : 165.390 us, Update time : 1673.216 us, Write time : 386.483 us + 20.98sWARNros2_control_nodeOverrun might occur, Total time : 2225.089 us (Expected < 1666.667 us) --> Read time : 165.390 us, Update time : 1673.216 us, Write time : 386.483 us[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174358 ms (missed cycles : 5). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174358 ms (missed cycles : 5).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694625 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694625 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun might occur, Total time : 2431.621 us (Expected < 1666.667 us) --> Read time : 135.248 us, Update time : 1972.274 us, Write time : 324.099 us + 22.90sWARNros2_control_nodeOverrun might occur, Total time : 2431.621 us (Expected < 1666.667 us) --> Read time : 135.248 us, Update time : 1972.274 us, Write time : 324.099 us[0m ×2 + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959422 ms (missed cycles : 3). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959422 ms (missed cycles : 3).[0m ×2 + 24.26sWARNcontroller_managerOverrun might occur, Total time : 2871.677 us (Expected < 1666.667 us) --> Read time : 140.319 us, Update time : 212.142 us, Write time : 2519.216 us + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060205 ms (missed cycles : 2). + 24.26sWARNros2_control_nodeOverrun might occur, Total time : 2871.677 us (Expected < 1666.667 us) --> Read time : 140.319 us, Update time : 212.142 us, Write time : 2519.216 us[0m ×2 + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060205 ms (missed cycles : 2).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757397 ms (missed cycles : 3). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757397 ms (missed cycles : 3).[0m ×2 + 25.44sWARNcontroller_managerOverrun might occur, Total time : 2082.170 us (Expected < 1666.667 us) --> Read time : 148.058 us, Update time : 649.278 us, Write time : 1284.834 us + 25.44sWARNros2_control_nodeOverrun might occur, Total time : 2082.170 us (Expected < 1666.667 us) --> Read time : 148.058 us, Update time : 649.278 us, Write time : 1284.834 us[0m ×2 + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962063 ms (missed cycles : 2). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962063 ms (missed cycles : 2).[0m ×2 + 26.63sWARNcontroller_managerOverrun might occur, Total time : 7691.166 us (Expected < 1666.667 us) --> Read time : 124.177 us, Update time : 100.236 us, Write time : 7466.753 us + 26.63sWARNros2_control_nodeOverrun might occur, Total time : 7691.166 us (Expected < 1666.667 us) --> Read time : 124.177 us, Update time : 100.236 us, Write time : 7466.753 us[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189000 ms (missed cycles : 4). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189000 ms (missed cycles : 4).[0m ×2 + 28.08sWARNcontroller_managerOverrun might occur, Total time : 3450.499 us (Expected < 1666.667 us) --> Read time : 167.580 us, Update time : 2926.309 us, Write time : 356.610 us + 28.08sWARNros2_control_nodeOverrun might occur, Total time : 3450.499 us (Expected < 1666.667 us) --> Read time : 167.580 us, Update time : 2926.309 us, Write time : 356.610 us[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574375 ms (missed cycles : 4). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574375 ms (missed cycles : 4).[0m ×2 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133127 ms (missed cycles : 4). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133127 ms (missed cycles : 4).[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2).[0m ×2 + 30.91sWARNcontroller_managerOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us + 30.91sWARNros2_control_nodeOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us[0m ×2 + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2).[0m ×2 + 32.41sWARNcontroller_managerOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us + 32.41sWARNros2_control_nodeOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us[0m ×2 + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3).[0m ×2 + 33.83sWARNcontroller_managerOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us + 33.83sWARNros2_control_nodeOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us[0m ×2 + 34.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781197279.82943106 seconds ×3 + 34.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781197280.39200211 seconds. ×3 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3).[0m ×2 + 34.97sWARNcontroller_managerOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us + 34.97sWARNros2_control_nodeOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us[0m ×2 + 34.99sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2).[0m ×2 + 36.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.9s | 105 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2313.574 us (Expected < 1666.667 us) --> Read time : 142.538 us, Update time : 1841.047 us, Write time : 329.989 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2313.574 us (Expected < 1666.667 us) --> Read time : 142.538 us, Update time : 1841.047 us, Write time : 329.989 us[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627105 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627105 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248556 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248556 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 1691.999 us (Expected < 1666.667 us) --> Read time : 718.872 us, Update time : 149.119 us, Write time : 824.008 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 1691.999 us (Expected < 1666.667 us) --> Read time : 718.872 us, Update time : 149.119 us, Write time : 824.008 us[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215289 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215289 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1739.751 us (Expected < 1666.667 us) --> Read time : 1118.445 us, Update time : 201.992 us, Write time : 419.314 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1739.751 us (Expected < 1666.667 us) --> Read time : 1118.445 us, Update time : 201.992 us, Write time : 419.314 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692385 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692385 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun might occur, Total time : 4289.228 us (Expected < 1666.667 us) --> Read time : 3753.867 us, Update time : 171.720 us, Write time : 363.641 us + 3.38sWARNros2_control_nodeOverrun might occur, Total time : 4289.228 us (Expected < 1666.667 us) --> Read time : 3753.867 us, Update time : 171.720 us, Write time : 363.641 us[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.48sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781197473.86756396 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781197474.41414261 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839943 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839943 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 4.42sWARNcontroller_managerOverrun might occur, Total time : 2932.720 us (Expected < 1666.667 us) --> Read time : 183.491 us, Update time : 141.608 us, Write time : 2607.621 us + 4.42sWARNros2_control_nodeOverrun might occur, Total time : 2932.720 us (Expected < 1666.667 us) --> Read time : 183.491 us, Update time : 141.608 us, Write time : 2607.621 us[0m ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104312 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104312 ms (missed cycles : 5).[0m ×2 + 5.90sWARNcontroller_managerOverrun might occur, Total time : 1779.413 us (Expected < 1666.667 us) --> Read time : 177.551 us, Update time : 404.523 us, Write time : 1197.339 us + 5.90sWARNros2_control_nodeOverrun might occur, Total time : 1779.413 us (Expected < 1666.667 us) --> Read time : 177.551 us, Update time : 404.523 us, Write time : 1197.339 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915197 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915197 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun might occur, Total time : 3764.068 us (Expected < 1666.667 us) --> Read time : 3264.309 us, Update time : 128.998 us, Write time : 370.761 us + 7.34sWARNros2_control_nodeOverrun might occur, Total time : 3764.068 us (Expected < 1666.667 us) --> Read time : 3264.309 us, Update time : 128.998 us, Write time : 370.761 us[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674828 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674828 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.527460 ms (missed cycles : 7). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.527460 ms (missed cycles : 7).[0m ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 8.61sWARNcontroller_managerOverrun might occur, Total time : 2484.974 us (Expected < 1666.667 us) --> Read time : 128.148 us, Update time : 2027.757 us, Write time : 329.069 us + 8.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.62sWARNros2_control_nodeOverrun might occur, Total time : 2484.974 us (Expected < 1666.667 us) --> Read time : 128.148 us, Update time : 2027.757 us, Write time : 329.069 us[0m ×2 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (8.5e-07 s). ×2 + 9.21sINFOobjective_server_nodeFound path in 83 iterations (0.0477563 s). ×2 + 9.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X____X] ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286625 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286625 ms (missed cycles : 2).[0m ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.71sWARNcontroller_managerOverrun might occur, Total time : 2007.256 us (Expected < 1666.667 us) --> Read time : 250.214 us, Update time : 1405.271 us, Write time : 351.771 us + 9.72sWARNros2_control_nodeOverrun might occur, Total time : 2007.256 us (Expected < 1666.667 us) --> Read time : 250.214 us, Update time : 1405.271 us, Write time : 351.771 us[0m ×2 + 9.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.36sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663663 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663663 ms (missed cycles : 4).[0m ×2 + 10.82sWARNcontroller_managerOverrun might occur, Total time : 4046.875 us (Expected < 1666.667 us) --> Read time : 204.782 us, Update time : 170.070 us, Write time : 3672.023 us + 10.82sWARNros2_control_nodeOverrun might occur, Total time : 4046.875 us (Expected < 1666.667 us) --> Read time : 204.782 us, Update time : 170.070 us, Write time : 3672.023 us[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846383 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846383 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun might occur, Total time : 2073.520 us (Expected < 1666.667 us) --> Read time : 172.000 us, Update time : 1517.348 us, Write time : 384.172 us + 12.06sWARNros2_control_nodeOverrun might occur, Total time : 2073.520 us (Expected < 1666.667 us) --> Read time : 172.000 us, Update time : 1517.348 us, Write time : 384.172 us[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748743 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748743 ms (missed cycles : 2).[0m ×2 + 13.25sWARNcontroller_managerOverrun might occur, Total time : 4385.674 us (Expected < 1666.667 us) --> Read time : 156.749 us, Update time : 3777.908 us, Write time : 451.017 us + 13.25sWARNros2_control_nodeOverrun might occur, Total time : 4385.674 us (Expected < 1666.667 us) --> Read time : 156.749 us, Update time : 3777.908 us, Write time : 451.017 us[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3).[0m ×2 + 14.32sWARNcontroller_managerOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us + 14.32sWARNros2_control_nodeOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4).[0m ×2 + 16.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197486.71925807 seconds ×3 + 16.47sWARNcontroller_managerOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us + 16.47sWARNros2_control_nodeOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3).[0m ×2 + 16.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197487.29192376 seconds. ×3 + 16.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.94sINFOmove_groupClearing octomap...[0m ×2 + 16.94sINFOmove_groupOctomap cleared.[0m ×2 + 17.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197487.79214811 seconds ×3 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2).[0m ×2 + 17.83sWARNcontroller_managerOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us + 17.83sWARNros2_control_nodeOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us[0m ×2 + 17.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197488.33761263 seconds. ×3 + 18.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197488.82781363 seconds ×3 + 18.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2). + 18.95sWARNcontroller_managerOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2).[0m ×2 + 19.17sWARNros2_control_nodeOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 76 errors · 57 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3).[0m ×2 + 0.62sWARNcontroller_managerOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197486.71925807 seconds ×3 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197487.29192376 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.23sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197487.79214811 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2).[0m ×2 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197488.33761263 seconds. ×3 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197488.82781363 seconds ×3 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2). + 5.25sWARNcontroller_managerOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_control_nodeOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015417 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015417 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun might occur, Total time : 6528.788 us (Expected < 1666.667 us) --> Read time : 156.109 us, Update time : 100.906 us, Write time : 6271.773 us + 6.42sWARNros2_control_nodeOverrun might occur, Total time : 6528.788 us (Expected < 1666.667 us) --> Read time : 156.109 us, Update time : 100.906 us, Write time : 6271.773 us[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138180 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138180 ms (missed cycles : 4).[0m ×2 + 7.80sWARNcontroller_managerOverrun might occur, Total time : 2135.934 us (Expected < 1666.667 us) --> Read time : 174.220 us, Update time : 1426.093 us, Write time : 535.621 us + 7.80sWARNros2_control_nodeOverrun might occur, Total time : 2135.934 us (Expected < 1666.667 us) --> Read time : 174.220 us, Update time : 1426.093 us, Write time : 535.621 us[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.070148 ms (missed cycles : 7). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.070148 ms (missed cycles : 7).[0m ×2 + 9.11sWARNcontroller_managerOverrun might occur, Total time : 2252.410 us (Expected < 1666.667 us) --> Read time : 174.450 us, Update time : 1754.652 us, Write time : 323.308 us + 9.11sWARNros2_control_nodeOverrun might occur, Total time : 2252.410 us (Expected < 1666.667 us) --> Read time : 174.450 us, Update time : 1754.652 us, Write time : 323.308 us[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862284 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862284 ms (missed cycles : 2).[0m ×2 + 10.15sWARNcontroller_managerOverrun might occur, Total time : 1787.844 us (Expected < 1666.667 us) --> Read time : 150.309 us, Update time : 694.890 us, Write time : 942.645 us + 10.15sWARNros2_control_nodeOverrun might occur, Total time : 1787.844 us (Expected < 1666.667 us) --> Read time : 150.309 us, Update time : 694.890 us, Write time : 942.645 us[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985018 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985018 ms (missed cycles : 3).[0m ×2 + 10.46sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.49sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.52sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.59sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.60sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.62sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.64sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.66sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.68sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.71sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.74sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.76sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.77sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10421] ×2 + 10.77sINFOweb_video_server-31process has finished cleanly [pid 10426] ×2 + 10.79sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.79sINFOcontroller_managerShutdown request received.... + 10.79sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.79sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.79sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.79sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.79sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.79sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.79sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.79sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.79sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.79sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.79sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.79sINFOcontroller_managerShutting down the controller manager. + 10.81sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.83sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.85sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.85sERRORmove_group-20process has died [pid 10352, 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_0qqu6bgz --params-file /tmp/launch_params_1c12a3zf --params-file /tmp/launch_params_kw2hz4fv --params-file /tmp/launch_params_da_0cq6x --params-file /tmp/launch_params_7am7w0ab --params-file /tmp/launch_params_3fptl2xj --params-file /tmp/launch_params_v266q14o --params-file /tmp/launch_params_y0s2pkri --params-file /tmp/launch_params_vixxov1m']. ×2 + 10.87sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.88sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.90sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.90sERRORui_teleop_bridge-28process has died [pid 10419, 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_9c_20ymr']. ×2 + 10.92sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.92sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.92sINFOcontroller_serverCleaning up + 10.92sINFOlocal_costmap.local_costmapCleaning up + 10.92sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.92sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.92sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.92sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.92sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.92sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.92sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.92sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.92sERRORobjective_server_node_main-25process has died [pid 10416, 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_at_5pjtx --params-file /tmp/launch_params_88zry2mh --params-file /tmp/launch_params_xdlo4yxo --params-file /tmp/launch_params_vay5wob2 --params-file /tmp/launch_params_6gfqua02 --params-file /tmp/launch_params_ext0d5c4']. ×2 + 10.92sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.93sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.93sINFOobjective_server_node[2026-06-11 17:04:54.818] [moveit_pro_license] [info] ×2 + 10.93sINFOobjective_server_node************************************************* ×4 + 10.93sINFOobjective_server_node* MoveIt Pro License ×2 + 10.93sINFOobjective_server_node* Application has successfully terminated ×2 + 10.93sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.93sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.93sERRORmove_groupStack trace (most recent call last) in thread 10922: ×2 + 10.93sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.93sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7d0ae1a63, in __clone ×2 + 10.93sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7d0a54aa3, in ×2 + 10.93sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7d0ce6db3, in ×2 + 10.93sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7fd7d133b19a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.93sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd7d10594d0, in rclcpp::Rate::sleep() ×2 + 10.93sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd7d0faca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.93sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd7d0f71a71, in ×2 + 10.93sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7d0cb5390, in __cxa_throw ×2 + 10.93sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7d0c9fa54, in std::terminate() ×2 + 10.93sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7d0cb50d9, in ×2 + 10.93sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.93sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.94sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.94sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.94sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.94sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.94sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.94sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.94sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.94sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7d0c9fff4, in ×2 + 10.94sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7d09e08fe, in abort ×2 + 10.94sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7d09fd27d, in raise ×2 + 10.94sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7d0a56b2c, in pthread_kill ×2 + 10.94sERRORmove_groupAborted (Signal sent by tkill() 10352 0) ×2 + 10.94sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.94sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.94sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.94sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b001a716a4, in _start ×2 + 10.94sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff12494728a, in __libc_start_main ×2 + 10.94sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1249471d0, in ×2 + 10.94sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff124964bbd, in exit ×2 + 10.94sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff124964a75, in ×2 + 10.94sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff124e364a2, in spdlog::details::registry::~registry() ×2 + 10.94sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff124e4169d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.94sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff124e3b965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.94sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b001a78315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.94sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b001a775a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.94sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b001a73b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.94sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b001a71d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.94sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1254c7454, in rclcpp::Node::~Node() ×2 + 10.94sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff125482515, in ×2 + 10.94sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1254c5d20, in ×2 + 10.94sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1254c5c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.94sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1254825d9, in ×2 + 10.94sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff125487161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.94sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7ff0d122a450]) ×2 + 10.94sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.94sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.94sINFOodom_qos_relay.pymain() ×2 + 10.94sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.94sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.94sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.94sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.94sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.94sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.94sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.94sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.94sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.94sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.95sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 10.95sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.95sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.96sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.96sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.96sINFOmap_serverDeactivating + 10.96sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.97sINFOmap_serverCleaning up + 10.97sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.97sINFOsmoother_serverCleaning up + 10.99sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.99sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.99sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.00sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.00sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.00sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.00sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.00sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.00sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.00sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.00sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.00sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.00sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.00sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.01sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.01sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.01sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 11.49sERRORcomponent_container_isolated-1process has died [pid 10247, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_chcjclvd --params-file /tmp/launch_params_y2io5um7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.71sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10415] ×2 + 11.73sINFOexecute_objective_bridge-27process has finished cleanly [pid 10418] ×2 + 11.74sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10357] ×2 + 11.80sINFOparameter_manager_node-21process has finished cleanly [pid 10354] ×2 + 11.82sINFOwaypoint_manager_node-22process has finished cleanly [pid 10356] ×2 + 11.85sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10253] ×2 + 11.87sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10252] ×2 + 11.90sINFOstatic_transform_publisher-4process has finished cleanly [pid 10250] ×2 + 11.92sINFOstatic_transform_publisher-3process has finished cleanly [pid 10249] ×2 + 11.93sINFOcomponent_container_mt-26process has finished cleanly [pid 10417] ×2 + 11.94sINFOstatic_transform_publisher-2process has finished cleanly [pid 10248] ×2 + 11.95sERRORodom_qos_relay.py-5process has died [pid 10251, 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 + 13.18sINFOweb_bridge-29process has finished cleanly [pid 10420] ×2 + 13.18sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.60sINFOros2_control_node-8process has finished cleanly [pid 10254] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 87 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2746.559 us (Expected < 1666.667 us) --> Read time : 142.978 us, Update time : 2293.663 us, Write time : 309.918 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2746.559 us (Expected < 1666.667 us) --> Read time : 142.978 us, Update time : 2293.663 us, Write time : 309.918 us[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418968 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418968 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271193 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271193 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 1806.614 us (Expected < 1666.667 us) --> Read time : 162.199 us, Update time : 578.934 us, Write time : 1065.481 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 1806.614 us (Expected < 1666.667 us) --> Read time : 162.199 us, Update time : 578.934 us, Write time : 1065.481 us[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796962 ms (missed cycles : 6). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796962 ms (missed cycles : 6).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781197333.50216699 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 3838.031 us (Expected < 1666.667 us) --> Read time : 154.069 us, Update time : 3201.565 us, Write time : 482.397 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3838.031 us (Expected < 1666.667 us) --> Read time : 154.069 us, Update time : 3201.565 us, Write time : 482.397 us[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024113 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024113 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781197334.04785919 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993811 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993811 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 6090.273 us (Expected < 1666.667 us) --> Read time : 156.149 us, Update time : 391.873 us, Write time : 5542.251 us + 5.23sWARNros2_control_nodeOverrun might occur, Total time : 6090.273 us (Expected < 1666.667 us) --> Read time : 156.149 us, Update time : 391.873 us, Write time : 5542.251 us[0m ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579513 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579513 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun might occur, Total time : 2947.591 us (Expected < 1666.667 us) --> Read time : 185.391 us, Update time : 126.267 us, Write time : 2635.933 us + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 2947.591 us (Expected < 1666.667 us) --> Read time : 185.391 us, Update time : 126.267 us, Write time : 2635.933 us[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214383 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214383 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937351 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937351 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun might occur, Total time : 2777.750 us (Expected < 1666.667 us) --> Read time : 1992.645 us, Update time : 316.618 us, Write time : 468.487 us + 8.44sWARNros2_control_nodeOverrun might occur, Total time : 2777.750 us (Expected < 1666.667 us) --> Read time : 1992.645 us, Update time : 316.618 us, Write time : 468.487 us[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583990 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583990 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun might occur, Total time : 1721.690 us (Expected < 1666.667 us) --> Read time : 685.760 us, Update time : 235.664 us, Write time : 800.266 us + 9.62sWARNros2_control_nodeOverrun might occur, Total time : 1721.690 us (Expected < 1666.667 us) --> Read time : 685.760 us, Update time : 235.664 us, Write time : 800.266 us[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812979 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812979 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632364 ms (missed cycles : 6). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632364 ms (missed cycles : 6).[0m ×2 + 12.15sWARNcontroller_managerOverrun might occur, Total time : 2329.815 us (Expected < 1666.667 us) --> Read time : 157.079 us, Update time : 198.772 us, Write time : 1973.964 us + 12.16sWARNros2_control_nodeOverrun might occur, Total time : 2329.815 us (Expected < 1666.667 us) --> Read time : 157.079 us, Update time : 198.772 us, Write time : 1973.964 us[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.543285 ms (missed cycles : 7). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.543285 ms (missed cycles : 7).[0m ×2 + 13.34sWARNcontroller_managerOverrun might occur, Total time : 2236.920 us (Expected < 1666.667 us) --> Read time : 157.749 us, Update time : 1112.195 us, Write time : 966.976 us + 13.34sWARNros2_control_nodeOverrun might occur, Total time : 2236.920 us (Expected < 1666.667 us) --> Read time : 157.749 us, Update time : 1112.195 us, Write time : 966.976 us[0m ×2 + 13.86sINFOjoint_trajectory_controllerGot request to cancel goal + 13.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.86sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781197344.11685824 seconds ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781197344.65987396 seconds. ×3 + 14.45sWARNcontroller_managerOverrun might occur, Total time : 3052.077 us (Expected < 1666.667 us) --> Read time : 166.330 us, Update time : 2470.813 us, Write time : 414.934 us + 14.45sWARNros2_control_nodeOverrun might occur, Total time : 3052.077 us (Expected < 1666.667 us) --> Read time : 166.330 us, Update time : 2470.813 us, Write time : 414.934 us[0m ×2 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006228 ms (missed cycles : 4). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006228 ms (missed cycles : 4).[0m ×2 + 15.60sWARNcontroller_managerOverrun might occur, Total time : 3035.617 us (Expected < 1666.667 us) --> Read time : 137.688 us, Update time : 2525.917 us, Write time : 372.012 us + 15.60sWARNros2_control_nodeOverrun might occur, Total time : 3035.617 us (Expected < 1666.667 us) --> Read time : 137.688 us, Update time : 2525.917 us, Write time : 372.012 us[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089796 ms (missed cycles : 4). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089796 ms (missed cycles : 4).[0m ×2 + 16.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.65sWARNcontroller_managerOverrun might occur, Total time : 5865.660 us (Expected < 1666.667 us) --> Read time : 130.878 us, Update time : 5304.297 us, Write time : 430.485 us + 16.65sWARNros2_control_nodeOverrun might occur, Total time : 5865.660 us (Expected < 1666.667 us) --> Read time : 130.878 us, Update time : 5304.297 us, Write time : 430.485 us[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235231 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235231 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 63 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us[0m ×2 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781197243.40328503 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2). + 4.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781197243.95608950 seconds. ×3 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 + 7.02sWARNcontroller_managerOverrun might occur, Total time : 1803.604 us (Expected < 1666.667 us) --> Read time : 214.582 us, Update time : 1082.153 us, Write time : 506.869 us + 7.02sWARNros2_control_nodeOverrun might occur, Total time : 1803.604 us (Expected < 1666.667 us) --> Read time : 214.582 us, Update time : 1082.153 us, Write time : 506.869 us[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343297 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343297 ms (missed cycles : 2).[0m ×2 + 8.20sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781197248.02622890 seconds ×3 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179682 ms (missed cycles : 7). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179682 ms (missed cycles : 7).[0m ×2 + 8.80sWARNcontroller_managerOverrun might occur, Total time : 2129.013 us (Expected < 1666.667 us) --> Read time : 134.458 us, Update time : 1687.538 us, Write time : 307.017 us + 8.80sWARNros2_control_nodeOverrun might occur, Total time : 2129.013 us (Expected < 1666.667 us) --> Read time : 134.458 us, Update time : 1687.538 us, Write time : 307.017 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165420 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165420 ms (missed cycles : 2).[0m ×2 + 9.75sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781197249.57822609 seconds. ×3 + 10.10sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 10.27sWARNcontroller_managerOverrun might occur, Total time : 3792.230 us (Expected < 1666.667 us) --> Read time : 155.689 us, Update time : 78.394 us, Write time : 3558.147 us + 10.27sWARNros2_control_nodeOverrun might occur, Total time : 3792.230 us (Expected < 1666.667 us) --> Read time : 155.689 us, Update time : 78.394 us, Write time : 3558.147 us[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175065 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175065 ms (missed cycles : 2).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326779 ms (missed cycles : 5). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326779 ms (missed cycles : 5).[0m ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.61sWARNcontroller_managerOverrun might occur, Total time : 2363.637 us (Expected < 1666.667 us) --> Read time : 128.597 us, Update time : 389.613 us, Write time : 1845.427 us + 11.61sWARNros2_control_nodeOverrun might occur, Total time : 2363.637 us (Expected < 1666.667 us) --> Read time : 128.597 us, Update time : 389.613 us, Write time : 1845.427 us[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 48 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781197182.68424368 seconds ×3 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781197183.23469877 seconds. ×3 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.4174e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.39sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.86sWARNcontroller_managerOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755436 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755436 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781197186.30483389 seconds ×3 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 2533.019 us (Expected < 1666.667 us) --> Read time : 152.869 us, Update time : 165.070 us, Write time : 2215.080 us + 6.82sWARNros2_control_nodeOverrun might occur, Total time : 2533.019 us (Expected < 1666.667 us) --> Read time : 152.869 us, Update time : 165.070 us, Write time : 2215.080 us[0m ×2 + 7.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781197186.85311198 seconds. ×3 + 7.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350279 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350279 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224365 ms (missed cycles : 6). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224365 ms (missed cycles : 6).[0m ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.04sWARNcontroller_managerOverrun might occur, Total time : 3010.517 us (Expected < 1666.667 us) --> Read time : 129.147 us, Update time : 2538.780 us, Write time : 342.590 us + 9.04sWARNros2_control_nodeOverrun might occur, Total time : 3010.517 us (Expected < 1666.667 us) --> Read time : 129.147 us, Update time : 2538.780 us, Write time : 342.590 us[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258536 ms (missed cycles : 5). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258536 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 42 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748743 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 4385.674 us (Expected < 1666.667 us) --> Read time : 156.749 us, Update time : 3777.908 us, Write time : 451.017 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 4385.674 us (Expected < 1666.667 us) --> Read time : 156.749 us, Update time : 3777.908 us, Write time : 451.017 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197486.71925807 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sWARNcontroller_managerOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us + 3.78sWARNros2_control_nodeOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197487.29192376 seconds. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.24sINFOmove_groupClearing octomap...[0m ×2 + 4.24sINFOmove_groupOctomap cleared.[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197487.79214811 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2).[0m ×2 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us + 5.13sWARNros2_control_nodeOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197488.33761263 seconds. ×3 + 5.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197488.82781363 seconds ×3 + 6.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2). + 6.26sWARNcontroller_managerOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2).[0m ×2 + 6.47sWARNros2_control_nodeOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015417 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015417 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 6528.788 us (Expected < 1666.667 us) --> Read time : 156.109 us, Update time : 100.906 us, Write time : 6271.773 us + 7.43sWARNros2_control_nodeOverrun might occur, Total time : 6528.788 us (Expected < 1666.667 us) --> Read time : 156.109 us, Update time : 100.906 us, Write time : 6271.773 us[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 33 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781197182.68424368 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781197183.23469877 seconds. ×3 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us + 0.91sWARNros2_control_nodeOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (5.4174e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.03sWARNcontroller_managerOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us + 2.03sWARNros2_control_nodeOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2).[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755436 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755436 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781197186.30483389 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 2533.019 us (Expected < 1666.667 us) --> Read time : 152.869 us, Update time : 165.070 us, Write time : 2215.080 us + 4.00sWARNros2_control_nodeOverrun might occur, Total time : 2533.019 us (Expected < 1666.667 us) --> Read time : 152.869 us, Update time : 165.070 us, Write time : 2215.080 us[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781197186.85311198 seconds. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350279 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350279 ms (missed cycles : 2).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224365 ms (missed cycles : 6). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224365 ms (missed cycles : 6).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 3010.517 us (Expected < 1666.667 us) --> Read time : 129.147 us, Update time : 2538.780 us, Write time : 342.590 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 3010.517 us (Expected < 1666.667 us) --> Read time : 129.147 us, Update time : 2538.780 us, Write time : 342.590 us[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258536 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258536 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us[0m ×2 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781197243.40328503 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2). + 4.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781197243.95608950 seconds. ×3 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2).[0m ×2 + 0.35sWARNcontroller_managerOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781197279.82943106 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781197280.39200211 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2).[0m ×2 + 0.35sWARNcontroller_managerOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781197279.82943106 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781197280.39200211 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781197182.68424368 seconds ×3 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781197183.23469877 seconds. ×3 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.4174e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sWARNcontroller_managerOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140103 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074053 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 1850.729 us (Expected < 1666.667 us) --> Read time : 685.581 us, Update time : 158.279 us, Write time : 1006.869 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903236 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 2149.167 us (Expected < 1666.667 us) --> Read time : 283.297 us, Update time : 1432.824 us, Write time : 433.046 us[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781197182.68424368 seconds ×3 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228634 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781197183.23469877 seconds. ×3 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 3180.317 us (Expected < 1666.667 us) --> Read time : 145.259 us, Update time : 2613.904 us, Write time : 421.154 us[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012646 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.4174e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sWARNcontroller_managerOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 2148.406 us (Expected < 1666.667 us) --> Read time : 147.088 us, Update time : 105.786 us, Write time : 1895.532 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737444 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 48 warnings · 749 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 + 0.12sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.13sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.53sINFOplatform_velocity_controllerconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×4 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.56sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.95sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.69sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 2.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.13sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.14sINFOplatform_velocity_controller_nav2configure successful + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.87sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.88sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us[0m ×2 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781197243.40328503 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2). + 4.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781197243.95608950 seconds. ×3 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us[0m ×2 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781197243.40328503 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2). + 4.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781197243.95608950 seconds. ×3 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us[0m ×2 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781197243.40328503 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2). + 4.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781197243.95608950 seconds. ×3 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239937 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113827 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 3091.499 us (Expected < 1666.667 us) --> Read time : 140.448 us, Update time : 2633.322 us, Write time : 317.729 us[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 2178.856 us (Expected < 1666.667 us) --> Read time : 235.724 us, Update time : 1568.741 us, Write time : 374.391 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774690 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 3116.880 us (Expected < 1666.667 us) --> Read time : 145.808 us, Update time : 2614.551 us, Write time : 356.521 us[0m ×2 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554642 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781197243.40328503 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2). + 4.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781197243.95608950 seconds. ×3 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 2853.664 us (Expected < 1666.667 us) --> Read time : 172.250 us, Update time : 2292.642 us, Write time : 388.772 us[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388757 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 1782.723 us (Expected < 1666.667 us) --> Read time : 145.878 us, Update time : 139.328 us, Write time : 1497.517 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099379 ms (missed cycles : 2).[0m ×2 + 0.35sWARNcontroller_managerOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 2137.672 us (Expected < 1666.667 us) --> Read time : 146.768 us, Update time : 1614.293 us, Write time : 376.611 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006286 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2450.742 us (Expected < 1666.667 us) --> Read time : 128.997 us, Update time : 1995.396 us, Write time : 326.349 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184037 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533050 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 6252.572 us (Expected < 1666.667 us) --> Read time : 152.039 us, Update time : 5620.945 us, Write time : 479.588 us[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781197279.82943106 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781197280.39200211 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994581 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1757.752 us (Expected < 1666.667 us) --> Read time : 147.328 us, Update time : 135.528 us, Write time : 1474.896 us[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809137 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540003 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 48 warnings · 749 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 + 0.12sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.13sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.53sINFOplatform_velocity_controllerconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×4 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.56sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.95sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.69sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 2.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.13sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.14sINFOplatform_velocity_controller_nav2configure successful + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.87sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.88sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 48 warnings · 749 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 + 0.12sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.13sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.53sINFOplatform_velocity_controllerconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×4 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.56sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.95sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.69sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 2.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.13sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.14sINFOplatform_velocity_controller_nav2configure successful + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.87sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.88sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_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 2.581851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581851 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2942.941 us (Expected < 1666.667 us) --> Read time : 2502.315 us, Update time : 134.628 us, Write time : 305.998 us[0m ×2 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188121 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451539 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2977.833 us (Expected < 1666.667 us) --> Read time : 135.818 us, Update time : 2457.943 us, Write time : 384.072 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344906 ms (missed cycles : 6).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197418.42055655 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2614.002 us (Expected < 1666.667 us) --> Read time : 141.069 us, Update time : 2076.010 us, Write time : 396.923 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197418.97740769 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963725 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 2228.969 us (Expected < 1666.667 us) --> Read time : 115.327 us, Update time : 1728.880 us, Write time : 384.762 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.866151 ms (missed cycles : 6).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873849 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 36 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748743 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 4385.674 us (Expected < 1666.667 us) --> Read time : 156.749 us, Update time : 3777.908 us, Write time : 451.017 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 4385.674 us (Expected < 1666.667 us) --> Read time : 156.749 us, Update time : 3777.908 us, Write time : 451.017 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302522 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 2166.865 us (Expected < 1666.667 us) --> Read time : 192.201 us, Update time : 729.232 us, Write time : 1245.432 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308565 ms (missed cycles : 5).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139190 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197486.71925807 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sWARNcontroller_managerOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us + 3.78sWARNros2_control_nodeOverrun might occur, Total time : 2352.687 us (Expected < 1666.667 us) --> Read time : 530.651 us, Update time : 685.230 us, Write time : 1136.806 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736098 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197487.29192376 seconds. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.24sINFOmove_groupClearing octomap...[0m ×2 + 4.24sINFOmove_groupOctomap cleared.[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197487.79214811 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194716 ms (missed cycles : 2).[0m ×2 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us + 5.13sWARNros2_control_nodeOverrun might occur, Total time : 4983.658 us (Expected < 1666.667 us) --> Read time : 119.277 us, Update time : 4380.143 us, Write time : 484.238 us[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197488.33761263 seconds. ×3 + 5.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197488.82781363 seconds ×3 + 6.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2). + 6.26sWARNcontroller_managerOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070751 ms (missed cycles : 2).[0m ×2 + 6.47sWARNros2_control_nodeOverrun might occur, Total time : 1740.921 us (Expected < 1666.667 us) --> Read time : 143.278 us, Update time : 1241.502 us, Write time : 356.141 us[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 | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 23.7s | 59 errors · 688 warnings · 7293 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/2026-06-11-16-52-25-331554-786d0e0a1ec8-9156 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 10.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 10.43sINFOros2_control_node-8process started with pid [9212] + 10.43sINFOmove_group-20process started with pid [9309] + 10.43sINFOparameter_manager_node-21process started with pid [9311] + 10.43sINFOwaypoint_manager_node-22process started with pid [9314] + 10.43sINFOmove_joint_resampler_node-23process started with pid [9315] + 10.43sINFOmove_end_effector_resampler_node-24process started with pid [9358] + 10.43sINFOobjective_server_node_main-25process started with pid [9359] + 10.43sINFOcomponent_container_mt-26process started with pid [9360] + 10.43sINFOexecute_objective_bridge-27process started with pid [9361] + 10.43sINFOui_teleop_bridge-28process started with pid [9365] + 10.43sINFOweb_bridge-29process started with pid [9380] + 10.43sINFOtf2_web_republisher_node-30process started with pid [9381] + 10.43sINFOweb_video_server-31process started with pid [9383] + 10.45sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 10.46sINFOcomponent_container_isolated-1process started with pid [9205] + 10.46sINFOstatic_transform_publisher-2process started with pid [9206] + 10.46sINFOstatic_transform_publisher-3process started with pid [9207] + 10.46sINFOstatic_transform_publisher-4process started with pid [9208] + 10.46sINFOodom_qos_relay.py-5process started with pid [9209] + 10.46sINFOscan_to_scan_filter_chain-6process started with pid [9210] + 10.46sINFOscan_to_scan_filter_chain-7process started with pid [9211] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9290] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9291] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9292] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9293] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9296] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9298] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9300] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9302] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9304] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9306] + 10.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9308] + 10.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 10.53sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×9 + 10.53sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 10.53sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 10.53sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 10.53sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×3 + 10.53sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×3 + 10.55sINFOstatic_transform_publisherfrom 'map' to 'odom' ×3 + 10.56sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 10.56sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 10.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 10.56sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 10.56sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 10.57sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 10.57sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870667 ms (missed cycles : 3).[0m + 10.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 10.63sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 10.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 10.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 10.78sINFOcomponent_container_mtRobot initialized[0m ×3 + 10.79sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 10.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 10.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 10.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 10.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 10.85sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 10.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 10.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 10.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 10.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 10.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 10.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 11.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 11.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 11.15sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×6 + 11.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 11.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 11.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 11.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 11.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 11.22sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 11.22sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 11.22sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 11.22sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 11.27sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 11.27sINFOmove_groupat line 594 in ./src/model.cpp ×318 + 11.28sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 11.35sINFOmove_groupat line 589 in ./src/model.cpp ×27 + 11.37sINFOmove_groupLoaded robot model in 0.600819 seconds[0m + 11.37sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 11.37sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.74sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 11.74sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×318 + 11.74sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 11.82sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×27 + 11.82sINFOwaypoint_manager_nodeLoaded robot model in 0.491163 seconds[0m + 11.82sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 11.82sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988385 ms (missed cycles : 2).[0m + 12.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×3 + 12.81sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 12.81sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 12.88sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 12.88sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 12.88sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 12.88sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 12.88sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 12.88sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 12.89sINFOmove_groupStarting planning scene monitor[0m ×3 + 12.89sINFOmove_groupListening to '/planning_scene'[0m ×3 + 12.89sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 12.89sINFOmove_groupListening to 'collision_object'[0m ×3 + 12.89sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695316 ms (missed cycles : 2).[0m + 13.05sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 13.05sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 13.06sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 13.40sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 13.40sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 13.40sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 13.40sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 13.40sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 13.40sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 13.40sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 13.40sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 13.40sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 13.40sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 13.40sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 13.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 13.41sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 13.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 13.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 13.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 13.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 13.41sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 13.41sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 13.43sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 13.49sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 13.49sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 13.65sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 13.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×3 + 13.68sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 13.70sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×708 + 13.70sINFOros2_control_nodeat line 594 in ./src/model.cpp ×1272 + 13.70sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×672 + 13.72sINFOros2_control_nodeat line 589 in ./src/model.cpp ×108 + 13.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 13.72sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 13.86sINFOobjective_server_node[2026-06-11 16:52:42.371] [moveit_pro_license] [info] + 13.86sINFOobjective_server_node************************************************* ×8 + 13.86sINFOobjective_server_node* MoveIt Pro License ×4 + 13.86sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 13.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 13.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 13.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 13.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 13.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 13.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 13.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 14.05sINFOros2_control_node[2026-06-11 16:52:42.562] [warning] No force/torque sensor configured. The VFC will ignore force references. + 14.06sINFOros2_control_node[2026-06-11 16:52:42.566] [info] Controller state will be published at 10 Hz. + 14.06sINFOros2_control_node[2026-06-11 16:52:42.568] [info] VelocityForceController 'on_configure' succeeded. + 14.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 14.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 14.15sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 14.29sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 14.29sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×318 + 14.29sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 14.32sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×27 + 14.32sINFOobjective_server_nodeLoaded robot model in 0.383827 seconds[0m + 14.32sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 14.32sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027530 ms (missed cycles : 2).[0m + 14.38sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 14.38sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 14.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9304] + 14.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 14.52sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 14.52sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×318 + 14.52sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 14.55sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×27 + 14.55sINFOcomponent_container_mtLoaded robot model in 0.377282 seconds[0m + 14.55sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 14.55sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.55sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 14.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×3 + 14.67sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.74sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 14.74sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 14.76sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 14.76sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 14.76sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 14.76sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 14.76sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 14.76sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 14.76sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 14.78sWARNros2_control_nodeOverrun might occur, Total time : 2134.282 us (Expected < 1666.667 us) --> Read time : 397.163 us, Update time : 100.585 us, Write time : 1636.534 us[0m + 14.89sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 14.99sINFOros2_control_node[2026-06-11 16:52:43.494] [info] Controller state will be published at 20 Hz. + 14.99sINFOros2_control_node[2026-06-11 16:52:43.495] [info] JointVelocityController 'on_configure' succeeded. + 15.32sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 15.32sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 15.32sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 15.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9308] + 15.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×3 + 15.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 15.40sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 15.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 15.41sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800475 ms (missed cycles : 5).[0m + 15.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 15.53sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 15.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 15.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 15.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 15.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 15.78sINFOros2_control_node[2026-06-11 16:52:44.286] [info] Controller state will be published at 20 Hz. + 15.78sINFOros2_control_node[2026-06-11 16:52:44.286] [info] JointVelocityController 'on_configure' succeeded. + 15.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.84sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 15.84sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 15.84sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 15.87sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 15.87sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 15.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 15.87sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz)[0m ×3 + 15.90sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 15.90sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 15.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 15.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 15.99sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 15.99sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 16.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 16.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 16.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 16.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 16.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9306] + 16.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.18sINFOmove_group ×12 + 16.18sINFOmove_group******************************************************** ×6 + 16.18sINFOmove_group* MoveGroup using: ×3 + 16.18sINFOmove_group* - apply_planning_scene_service ×3 + 16.18sINFOmove_group* - clear_octomap_service ×3 + 16.18sINFOmove_group* - ExecuteTaskSolution ×3 + 16.18sINFOmove_group* - get_group_urdf ×3 + 16.18sINFOmove_group* - load_geometry_from_file ×3 + 16.18sINFOmove_group* - get_planning_scene_service ×3 + 16.18sINFOmove_group* - kinematics_service ×3 + 16.18sINFOmove_group* - save_geometry_to_file ×3 + 16.18sINFOmove_group* - GetPlanningGroups ×3 + 16.18sINFOmove_group* - SetActiveControllerService ×3 + 16.18sINFOmove_group* - URDFPlanningSceneCapability ×3 + 16.18sINFOmove_group[0m ×3 + 16.19sINFOmove_group[92mYou can start planning now![0m ×3 + 16.41sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 16.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 16.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 16.42sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993852 ms (missed cycles : 2).[0m + 16.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×3 + 16.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 16.50sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 16.50sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 16.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 16.50sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 16.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 16.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 16.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 16.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 16.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 16.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9300] + 16.87sWARNros2_control_nodeOverrun might occur, Total time : 2276.981 us (Expected < 1666.667 us) --> Read time : 1895.079 us, Update time : 18.181 us, Write time : 363.721 us[0m + 16.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×3 + 16.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 17.29sINFOros2_control_node[2026-06-11 16:52:45.799] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.29sINFOros2_control_node[2026-06-11 16:52:45.802] [info] Controller state will be published at 10 Hz. + 17.30sINFOros2_control_node[2026-06-11 16:52:45.803] [info] VelocityForceController 'on_configure' succeeded. + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986641 ms (missed cycles : 2).[0m + 17.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9302] + 17.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 17.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 17.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 17.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×3 + 17.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 17.83sINFOros2_control_nodeconfigure successful[0m ×9 + 17.84sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 17.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 17.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×3 + 18.07sWARNros2_control_nodeOverrun might occur, Total time : 5023.898 us (Expected < 1666.667 us) --> Read time : 620.336 us, Update time : 129.887 us, Write time : 4273.675 us[0m + 18.15sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.15sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 18.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 18.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9290] + 18.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×3 + 18.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751025 ms (missed cycles : 2).[0m + 18.65sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.65sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 18.65sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 18.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9298] + 18.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×3 + 18.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 18.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 18.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×3 + 19.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9293] + 19.09sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 19.09sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 19.09sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 19.12sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 19.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×3 + 19.16sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 19.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 19.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 19.17sWARNros2_control_nodeOverrun might occur, Total time : 4771.735 us (Expected < 1666.667 us) --> Read time : 154.989 us, Update time : 4246.205 us (Switch time : 4180.591 us (Switch chained mode time : 0.580 us, perform mode change time : 1.620 us, Activation time : 4171.450 us, Deactivation time : 0.320 us)), Write time : 370.541 us[0m + 19.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×3 + 19.18sWARNros2_control_nodeOverrun might occur, Total time : 5142.816 us (Expected < 1666.667 us) --> Read time : 327.769 us, Update time : 60.463 us, Write time : 4754.584 us[0m + 19.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×3 + 19.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9296] + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019485 ms (missed cycles : 5).[0m + 19.77sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.77sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 19.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×3 + 19.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.81sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 19.81sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 19.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×3 + 20.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9292] + 20.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 20.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 20.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 20.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__udhqib0 --params-file /tmp/launch_params_cxeife51 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_djg9jog0 --params-file /tmp/launch_params_0c603g9d [0m + 20.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×3 + 20.47sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 20.47sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 20.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×3 + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687182 ms (missed cycles : 3).[0m + 20.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×29 + 20.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×29 + 20.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9291] + 21.22sINFOmove_groupClearing octomap...[0m ×4 + 21.22sINFOmove_groupOctomap cleared.[0m ×4 + 21.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196769.72188807 seconds. + 21.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196769.73234534 seconds + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752902 ms (missed cycles : 5).[0m + 21.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196770.28408265 seconds. + 21.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196770.29421759 seconds + 21.86sWARNros2_control_nodeOverrun might occur, Total time : 1852.096 us (Expected < 1666.667 us) --> Read time : 526.990 us, Update time : 777.485 us, Write time : 547.621 us[0m + 22.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196770.84248066 seconds. + 22.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196770.99313426 seconds + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791174 ms (missed cycles : 2).[0m + 23.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196771.56470919 seconds. + 23.07sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 23.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 23.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 23.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 23.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 23.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 23.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 23.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 23.12sWARNros2_control_nodeOverrun might occur, Total time : 4045.632 us (Expected < 1666.667 us) --> Read time : 143.368 us, Update time : 3545.344 us (Switch time : 3471.129 us (Switch chained mode time : 0.390 us, perform mode change time : 3.710 us, Activation time : 3455.309 us, Deactivation time : 0.280 us)), Write time : 356.920 us[0m + 23.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196771.63484955 seconds + 23.32sWARNros2_control_nodeOverrun might occur, Total time : 3334.212 us (Expected < 1666.667 us) --> Read time : 135.328 us, Update time : 156.069 us, Write time : 3042.815 us[0m + 23.44sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m + 23.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196772.17627096 seconds. + 23.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 23.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 23.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 23.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263276 ms (missed cycles : 2).[0m + 24.74sINFOobjective_server_nodePlanning for 177 path waypoints. + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876944 ms (missed cycles : 2).[0m + 24.92sWARNros2_control_nodeOverrun might occur, Total time : 2905.468 us (Expected < 1666.667 us) --> Read time : 305.148 us, Update time : 199.011 us, Write time : 2401.309 us[0m + 25.41sINFOros2_control_nodeReceived new action goal[0m ×16 + 25.41sINFOros2_control_nodeAccepted new action goal[0m ×16 + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.139246 ms (missed cycles : 5).[0m + 26.45sWARNros2_control_nodeOverrun might occur, Total time : 3690.762 us (Expected < 1666.667 us) --> Read time : 177.600 us, Update time : 3138.510 us, Write time : 374.652 us[0m + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805629 ms (missed cycles : 2).[0m + 27.62sWARNros2_control_nodeOverrun might occur, Total time : 1702.618 us (Expected < 1666.667 us) --> Read time : 151.508 us, Update time : 309.128 us, Write time : 1241.982 us[0m + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455861 ms (missed cycles : 3).[0m + 28.99sWARNros2_control_nodeOverrun might occur, Total time : 2085.900 us (Expected < 1666.667 us) --> Read time : 141.428 us, Update time : 1462.524 us, Write time : 481.948 us[0m + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146951 ms (missed cycles : 3).[0m + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137822 ms (missed cycles : 4).[0m + 30.53sWARNros2_control_nodeOverrun might occur, Total time : 2243.159 us (Expected < 1666.667 us) --> Read time : 167.810 us, Update time : 1678.986 us, Write time : 396.363 us[0m + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620766 ms (missed cycles : 5).[0m + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.509595 ms (missed cycles : 6).[0m + 32.87sWARNros2_control_nodeOverrun might occur, Total time : 2479.702 us (Expected < 1666.667 us) --> Read time : 166.109 us, Update time : 1899.169 us, Write time : 414.424 us[0m + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294375 ms (missed cycles : 2).[0m + 34.26sWARNros2_control_nodeOverrun might occur, Total time : 3869.583 us (Expected < 1666.667 us) --> Read time : 441.676 us, Update time : 113.126 us, Write time : 3314.781 us[0m + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236076 ms (missed cycles : 2).[0m + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256447 ms (missed cycles : 2).[0m + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853944 ms (missed cycles : 2).[0m + 36.98sWARNros2_control_nodeOverrun might occur, Total time : 3937.336 us (Expected < 1666.667 us) --> Read time : 132.897 us, Update time : 117.097 us, Write time : 3687.342 us[0m + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764698 ms (missed cycles : 2).[0m + 38.04sWARNros2_control_nodeOverrun might occur, Total time : 1718.729 us (Expected < 1666.667 us) --> Read time : 227.733 us, Update time : 585.844 us, Write time : 905.152 us[0m + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278416 ms (missed cycles : 4).[0m + 39.76sWARNros2_control_nodeOverrun might occur, Total time : 3280.518 us (Expected < 1666.667 us) --> Read time : 208.252 us, Update time : 2716.176 us, Write time : 356.090 us[0m + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709620 ms (missed cycles : 3).[0m + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783686 ms (missed cycles : 5).[0m + 41.08sWARNros2_control_nodeOverrun might occur, Total time : 4809.136 us (Expected < 1666.667 us) --> Read time : 144.408 us, Update time : 4292.477 us, Write time : 372.251 us[0m + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113594 ms (missed cycles : 2).[0m + 42.74sWARNros2_control_nodeOverrun might occur, Total time : 1761.962 us (Expected < 1666.667 us) --> Read time : 195.922 us, Update time : 670.208 us, Write time : 895.832 us[0m + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741530 ms (missed cycles : 2).[0m + 43.81sWARNros2_control_nodeOverrun might occur, Total time : 1814.173 us (Expected < 1666.667 us) --> Read time : 354.450 us, Update time : 420.864 us, Write time : 1038.859 us[0m + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176637 ms (missed cycles : 4).[0m + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345260 ms (missed cycles : 3).[0m + 45.32sWARNros2_control_nodeOverrun might occur, Total time : 2032.697 us (Expected < 1666.667 us) --> Read time : 1503.276 us, Update time : 152.299 us, Write time : 377.122 us[0m + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.666160 ms (missed cycles : 6).[0m + 46.51sWARNros2_control_nodeOverrun might occur, Total time : 1902.929 us (Expected < 1666.667 us) --> Read time : 283.136 us, Update time : 1056.341 us, Write time : 563.452 us[0m + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828849 ms (missed cycles : 2).[0m + 47.59sWARNros2_control_nodeOverrun might occur, Total time : 2713.475 us (Expected < 1666.667 us) --> Read time : 146.728 us, Update time : 2171.955 us, Write time : 394.792 us[0m + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664726 ms (missed cycles : 5).[0m + 49.01sWARNros2_control_nodeOverrun might occur, Total time : 1975.374 us (Expected < 1666.667 us) --> Read time : 147.339 us, Update time : 1379.759 us, Write time : 448.276 us[0m + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671683 ms (missed cycles : 2).[0m + 50.06sWARNros2_control_nodeOverrun might occur, Total time : 1682.457 us (Expected < 1666.667 us) --> Read time : 174.800 us, Update time : 1164.757 us, Write time : 342.900 us[0m + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651857 ms (missed cycles : 4).[0m + 51.08sWARNros2_control_nodeOverrun might occur, Total time : 2179.146 us (Expected < 1666.667 us) --> Read time : 314.738 us, Update time : 1587.232 us, Write time : 277.176 us[0m + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821355 ms (missed cycles : 3).[0m + 52.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710404 ms (missed cycles : 3).[0m + 52.57sWARNros2_control_nodeOverrun might occur, Total time : 3179.753 us (Expected < 1666.667 us) --> Read time : 154.319 us, Update time : 2704.225 us, Write time : 321.209 us[0m + 53.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117479 ms (missed cycles : 2).[0m + 53.83sWARNros2_control_nodeOverrun might occur, Total time : 2890.666 us (Expected < 1666.667 us) --> Read time : 154.069 us, Update time : 102.956 us, Write time : 2633.641 us[0m + 54.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676157 ms (missed cycles : 2).[0m + 55.34sWARNros2_control_nodeOverrun might occur, Total time : 3186.153 us (Expected < 1666.667 us) --> Read time : 192.831 us, Update time : 2645.222 us, Write time : 348.100 us[0m + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827956 ms (missed cycles : 2).[0m + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679710 ms (missed cycles : 2).[0m + 56.73sWARNros2_control_nodeOverrun might occur, Total time : 2675.203 us (Expected < 1666.667 us) --> Read time : 2033.016 us, Update time : 161.809 us, Write time : 480.378 us[0m + 57.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107624 ms (missed cycles : 3).[0m + 57.93sWARNros2_control_nodeOverrun might occur, Total time : 4123.896 us (Expected < 1666.667 us) --> Read time : 166.459 us, Update time : 102.206 us, Write time : 3855.231 us[0m + 58.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916433 ms (missed cycles : 2).[0m + 59.43sWARNros2_control_nodeOverrun might occur, Total time : 1989.674 us (Expected < 1666.667 us) --> Read time : 178.640 us, Update time : 1388.010 us, Write time : 423.024 us[0m + 59.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284544 ms (missed cycles : 2).[0m + 60.79sWARNros2_control_nodeOverrun might occur, Total time : 2664.953 us (Expected < 1666.667 us) --> Read time : 142.539 us, Update time : 2204.216 us, Write time : 318.198 us[0m + 60.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865608 ms (missed cycles : 2).[0m + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797632 ms (missed cycles : 2).[0m + 62.19sWARNros2_control_nodeOverrun might occur, Total time : 2592.530 us (Expected < 1666.667 us) --> Read time : 154.619 us, Update time : 2103.811 us, Write time : 334.100 us[0m + 62.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354717 ms (missed cycles : 4).[0m + 63.31sWARNros2_control_nodeOverrun might occur, Total time : 3490.390 us (Expected < 1666.667 us) --> Read time : 199.631 us, Update time : 252.885 us, Write time : 3037.874 us[0m + 63.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799771 ms (missed cycles : 3).[0m + 64.46sWARNros2_control_nodeOverrun might occur, Total time : 2398.828 us (Expected < 1666.667 us) --> Read time : 131.508 us, Update time : 113.026 us, Write time : 2154.294 us[0m + 64.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.257713 ms (missed cycles : 7).[0m + 65.55sWARNros2_control_nodeOverrun might occur, Total time : 1685.327 us (Expected < 1666.667 us) --> Read time : 154.508 us, Update time : 1230.551 us, Write time : 300.268 us[0m + 66.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281086 ms (missed cycles : 4).[0m + 66.76sWARNros2_control_nodeOverrun might occur, Total time : 2395.258 us (Expected < 1666.667 us) --> Read time : 145.338 us, Update time : 1924.561 us, Write time : 325.359 us[0m + 67.00sINFOros2_control_nodeGoal reached, success![0m ×15 + 67.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781196815.52228403 seconds + 67.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686451 ms (missed cycles : 2).[0m + 67.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781196816.06534147 seconds. + 67.85sWARNros2_control_nodeOverrun might occur, Total time : 2495.984 us (Expected < 1666.667 us) --> Read time : 153.399 us, Update time : 1934.061 us, Write time : 408.524 us[0m + 68.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026326 ms (missed cycles : 5).[0m + 68.52sINFOobjective_server_nodeFound path in 0 iterations (2.4871e-05 s). + 68.52sINFOobjective_server_nodePath shortcutter: [X____X] + 68.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 69.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.806071 ms (missed cycles : 6).[0m + 69.76sWARNros2_control_nodeOverrun might occur, Total time : 2961.150 us (Expected < 1666.667 us) --> Read time : 159.589 us, Update time : 2438.970 us, Write time : 362.591 us[0m + 70.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702037 ms (missed cycles : 3).[0m + 70.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781196819.15548182 seconds + 71.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781196819.70266795 seconds. + 71.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.905743 ms (missed cycles : 5).[0m + 71.52sWARNros2_control_nodeOverrun might occur, Total time : 2108.312 us (Expected < 1666.667 us) --> Read time : 431.545 us, Update time : 124.007 us, Write time : 1552.760 us[0m + 71.54sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×3 + 72.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824325 ms (missed cycles : 2).[0m + 72.70sWARNros2_control_nodeOverrun might occur, Total time : 2126.653 us (Expected < 1666.667 us) --> Read time : 147.179 us, Update time : 1656.355 us, Write time : 323.119 us[0m + 73.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 73.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507034 ms (missed cycles : 4).[0m + 74.30sWARNros2_control_nodeOverrun might occur, Total time : 7790.787 us (Expected < 1666.667 us) --> Read time : 152.529 us, Update time : 7168.111 us, Write time : 470.147 us[0m + 74.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352675 ms (missed cycles : 3).[0m + 75.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216972 ms (missed cycles : 3).[0m + 75.81sWARNros2_control_nodeOverrun might occur, Total time : 2605.900 us (Expected < 1666.667 us) --> Read time : 139.528 us, Update time : 2136.553 us, Write time : 329.819 us[0m + 76.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538162 ms (missed cycles : 3).[0m + 77.24sWARNros2_control_nodeOverrun might occur, Total time : 6856.854 us (Expected < 1666.667 us) --> Read time : 144.158 us, Update time : 6365.956 us, Write time : 346.740 us[0m + 77.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588222 ms (missed cycles : 3).[0m + 78.68sWARNros2_control_nodeOverrun might occur, Total time : 1858.837 us (Expected < 1666.667 us) --> Read time : 174.490 us, Update time : 124.787 us, Write time : 1559.560 us[0m + 78.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951012 ms (missed cycles : 3).[0m + 79.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261800 ms (missed cycles : 4).[0m + 80.10sWARNros2_control_nodeOverrun might occur, Total time : 1915.040 us (Expected < 1666.667 us) --> Read time : 147.928 us, Update time : 1462.684 us, Write time : 304.428 us[0m + 80.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653140 ms (missed cycles : 6).[0m + 81.66sWARNros2_control_nodeOverrun might occur, Total time : 2392.207 us (Expected < 1666.667 us) --> Read time : 108.676 us, Update time : 1722.819 us, Write time : 560.712 us[0m + 81.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716092 ms (missed cycles : 3).[0m + 82.94sWARNros2_control_nodeOverrun might occur, Total time : 2710.955 us (Expected < 1666.667 us) --> Read time : 252.994 us, Update time : 2119.522 us, Write time : 338.439 us[0m + 83.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285274 ms (missed cycles : 3).[0m + 83.44sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m + 84.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919899 ms (missed cycles : 5).[0m + 84.74sWARNros2_control_nodeOverrun might occur, Total time : 4498.367 us (Expected < 1666.667 us) --> Read time : 142.978 us, Update time : 3962.947 us, Write time : 392.442 us[0m + 85.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256082 ms (missed cycles : 2).[0m + 86.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858908 ms (missed cycles : 3).[0m + 86.52sWARNros2_control_nodeOverrun might occur, Total time : 4472.238 us (Expected < 1666.667 us) --> Read time : 129.137 us, Update time : 3949.148 us, Write time : 393.953 us[0m + 87.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813092 ms (missed cycles : 2).[0m + 88.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981496 ms (missed cycles : 3).[0m + 88.60sWARNros2_control_nodeOverrun might occur, Total time : 2447.101 us (Expected < 1666.667 us) --> Read time : 201.952 us, Update time : 142.788 us, Write time : 2102.361 us[0m + 89.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821764 ms (missed cycles : 3).[0m + 89.68sWARNros2_control_nodeOverrun might occur, Total time : 1759.442 us (Expected < 1666.667 us) --> Read time : 131.528 us, Update time : 673.119 us, Write time : 954.795 us[0m + 90.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386722 ms (missed cycles : 3).[0m + 90.89sWARNros2_control_nodeOverrun might occur, Total time : 3664.800 us (Expected < 1666.667 us) --> Read time : 171.329 us, Update time : 3112.859 us, Write time : 380.612 us[0m + 91.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224611 ms (missed cycles : 2).[0m + 92.24sWARNros2_control_nodeOverrun might occur, Total time : 2533.045 us (Expected < 1666.667 us) --> Read time : 144.628 us, Update time : 150.279 us, Write time : 2238.138 us[0m + 92.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474811 ms (missed cycles : 4).[0m + 93.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210946 ms (missed cycles : 6).[0m + 93.62sWARNros2_control_nodeOverrun might occur, Total time : 2235.838 us (Expected < 1666.667 us) --> Read time : 170.760 us, Update time : 109.476 us, Write time : 1955.602 us[0m + 94.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908291 ms (missed cycles : 5).[0m + 94.83sWARNros2_control_nodeOverrun might occur, Total time : 2016.626 us (Expected < 1666.667 us) --> Read time : 1443.523 us, Update time : 190.701 us, Write time : 382.402 us[0m + 95.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613246 ms (missed cycles : 3).[0m + 96.61sWARNros2_control_nodeOverrun might occur, Total time : 5220.710 us (Expected < 1666.667 us) --> Read time : 175.820 us, Update time : 4646.367 us, Write time : 398.523 us[0m + 96.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650787 ms (missed cycles : 4).[0m + 97.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.935128 ms (missed cycles : 6).[0m + 98.00sWARNros2_control_nodeOverrun might occur, Total time : 2845.574 us (Expected < 1666.667 us) --> Read time : 162.089 us, Update time : 2294.712 us, Write time : 388.773 us[0m + 98.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136999 ms (missed cycles : 2).[0m + 99.20sWARNros2_control_nodeOverrun might occur, Total time : 5097.303 us (Expected < 1666.667 us) --> Read time : 146.829 us, Update time : 4587.923 us, Write time : 362.551 us[0m + 99.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071685 ms (missed cycles : 4).[0m +100.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191286 ms (missed cycles : 5).[0m +100.89sWARNros2_control_nodeOverrun might occur, Total time : 5921.170 us (Expected < 1666.667 us) --> Read time : 263.495 us, Update time : 333.049 us, Write time : 5324.626 us[0m +101.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487081 ms (missed cycles : 3).[0m +101.83sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +101.90sWARNros2_control_nodeOverrun might occur, Total time : 4073.744 us (Expected < 1666.667 us) --> Read time : 124.277 us, Update time : 3525.763 us, Write time : 423.704 us[0m +102.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536535 ms (missed cycles : 2).[0m +102.99sWARNros2_control_nodeOverrun might occur, Total time : 3383.965 us (Expected < 1666.667 us) --> Read time : 2892.667 us, Update time : 147.799 us, Write time : 343.499 us[0m +103.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985648 ms (missed cycles : 8).[0m +104.07sWARNros2_control_nodeOverrun might occur, Total time : 1823.065 us (Expected < 1666.667 us) --> Read time : 181.570 us, Update time : 1291.184 us, Write time : 350.311 us[0m +104.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868456 ms (missed cycles : 2).[0m +105.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063817 ms (missed cycles : 2).[0m +106.22sWARNros2_control_nodeOverrun might occur, Total time : 2569.097 us (Expected < 1666.667 us) --> Read time : 2045.857 us, Update time : 150.068 us, Write time : 373.172 us[0m +107.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908722 ms (missed cycles : 5).[0m +107.42sWARNros2_control_nodeOverrun might occur, Total time : 3846.951 us (Expected < 1666.667 us) --> Read time : 203.451 us, Update time : 3251.237 us, Write time : 392.263 us[0m +108.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001322 ms (missed cycles : 2).[0m +108.53sWARNros2_control_nodeOverrun might occur, Total time : 2322.153 us (Expected < 1666.667 us) --> Read time : 342.759 us, Update time : 188.661 us, Write time : 1790.733 us[0m +109.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.982976 ms (missed cycles : 8).[0m +109.55sWARNros2_control_nodeOverrun might occur, Total time : 4532.941 us (Expected < 1666.667 us) --> Read time : 120.607 us, Update time : 3965.608 us, Write time : 446.726 us[0m +110.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302808 ms (missed cycles : 4).[0m +110.69sWARNros2_control_nodeOverrun might occur, Total time : 1679.607 us (Expected < 1666.667 us) --> Read time : 164.519 us, Update time : 653.338 us, Write time : 861.750 us[0m +111.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406516 ms (missed cycles : 3).[0m +111.82sWARNros2_control_nodeOverrun might occur, Total time : 6976.230 us (Expected < 1666.667 us) --> Read time : 137.217 us, Update time : 6463.632 us, Write time : 375.381 us[0m +112.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771492 ms (missed cycles : 2).[0m +113.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716086 ms (missed cycles : 3).[0m +113.26sWARNros2_control_nodeOverrun might occur, Total time : 2147.664 us (Expected < 1666.667 us) --> Read time : 151.049 us, Update time : 1564.660 us, Write time : 431.955 us[0m +114.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848278 ms (missed cycles : 5).[0m +114.61sWARNros2_control_nodeOverrun might occur, Total time : 2566.818 us (Expected < 1666.667 us) --> Read time : 161.040 us, Update time : 95.595 us, Write time : 2310.183 us[0m +115.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707612 ms (missed cycles : 2).[0m +116.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575051 ms (missed cycles : 4).[0m +116.26sWARNros2_control_nodeOverrun might occur, Total time : 2424.139 us (Expected < 1666.667 us) --> Read time : 134.427 us, Update time : 1867.298 us, Write time : 422.414 us[0m +117.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216488 ms (missed cycles : 5).[0m +117.50sWARNros2_control_nodeOverrun might occur, Total time : 1921.230 us (Expected < 1666.667 us) --> Read time : 200.811 us, Update time : 724.472 us, Write time : 995.947 us[0m +118.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862514 ms (missed cycles : 3).[0m +119.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352781 ms (missed cycles : 4).[0m +119.70sWARNros2_control_nodeOverrun might occur, Total time : 1744.271 us (Expected < 1666.667 us) --> Read time : 699.770 us, Update time : 737.413 us, Write time : 307.088 us[0m +120.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959416 ms (missed cycles : 2).[0m +121.14sWARNros2_control_nodeOverrun might occur, Total time : 2361.097 us (Expected < 1666.667 us) --> Read time : 1779.463 us, Update time : 168.540 us, Write time : 413.094 us[0m +121.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331822 ms (missed cycles : 2).[0m +122.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.117603 ms (missed cycles : 7).[0m +122.71sWARNros2_control_nodeOverrun might occur, Total time : 2192.206 us (Expected < 1666.667 us) --> Read time : 144.638 us, Update time : 1730.900 us, Write time : 316.668 us[0m +123.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275695 ms (missed cycles : 4).[0m +123.85sWARNros2_control_nodeOverrun might occur, Total time : 2232.557 us (Expected < 1666.667 us) --> Read time : 488.548 us, Update time : 443.925 us, Write time : 1300.084 us[0m +124.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946162 ms (missed cycles : 5).[0m +124.90sWARNros2_control_nodeOverrun might occur, Total time : 2139.413 us (Expected < 1666.667 us) --> Read time : 256.664 us, Update time : 83.295 us, Write time : 1799.454 us[0m +125.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271296 ms (missed cycles : 5).[0m +125.96sWARNros2_control_nodeOverrun might occur, Total time : 5967.713 us (Expected < 1666.667 us) --> Read time : 5482.435 us, Update time : 160.059 us, Write time : 325.219 us[0m +126.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725520 ms (missed cycles : 3).[0m +127.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140805 ms (missed cycles : 4).[0m +127.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196876.23283291 seconds +128.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196876.81179857 seconds. +128.35sWARNros2_control_nodeOverrun might occur, Total time : 1735.950 us (Expected < 1666.667 us) --> Read time : 152.069 us, Update time : 974.506 us, Write time : 609.375 us[0m +128.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +128.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924426 ms (missed cycles : 2).[0m +129.43sWARNros2_control_nodeOverrun might occur, Total time : 2790.580 us (Expected < 1666.667 us) --> Read time : 136.508 us, Update time : 145.208 us, Write time : 2508.864 us[0m +129.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676477 ms (missed cycles : 5).[0m +130.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985080 ms (missed cycles : 2).[0m +130.83sWARNros2_control_nodeOverrun might occur, Total time : 1811.125 us (Expected < 1666.667 us) --> Read time : 121.767 us, Update time : 1335.267 us, Write time : 354.091 us[0m +131.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519718 ms (missed cycles : 3).[0m +132.36sWARNros2_control_nodeOverrun might occur, Total time : 2373.636 us (Expected < 1666.667 us) --> Read time : 186.051 us, Update time : 1665.915 us, Write time : 521.670 us[0m +132.37sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781196880.88208866 seconds +132.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392675 ms (missed cycles : 3).[0m +133.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426975 ms (missed cycles : 3).[0m +133.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781196882.42837024 seconds. +134.26sWARNros2_control_nodeOverrun might occur, Total time : 1678.296 us (Expected < 1666.667 us) --> Read time : 150.189 us, Update time : 651.367 us, Write time : 876.740 us[0m +134.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +134.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392127 ms (missed cycles : 3).[0m +135.30sWARNros2_control_nodeOverrun might occur, Total time : 3315.480 us (Expected < 1666.667 us) --> Read time : 2808.301 us, Update time : 124.837 us, Write time : 382.342 us[0m +135.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +135.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040313 ms (missed cycles : 2).[0m +136.59sWARNros2_control_nodeOverrun might occur, Total time : 2243.789 us (Expected < 1666.667 us) --> Read time : 206.182 us, Update time : 255.825 us, Write time : 1781.782 us[0m +136.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982799 ms (missed cycles : 2).[0m +137.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671646 ms (missed cycles : 2).[0m +138.21sWARNros2_control_nodeOverrun might occur, Total time : 2313.602 us (Expected < 1666.667 us) --> Read time : 158.139 us, Update time : 1645.174 us, Write time : 510.289 us[0m +139.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796519 ms (missed cycles : 5).[0m +140.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535552 ms (missed cycles : 3).[0m +140.14sWARNros2_control_nodeOverrun might occur, Total time : 1883.398 us (Expected < 1666.667 us) --> Read time : 206.612 us, Update time : 219.853 us, Write time : 1456.933 us[0m +141.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822305 ms (missed cycles : 3).[0m +141.97sWARNros2_control_nodeOverrun might occur, Total time : 2803.511 us (Expected < 1666.667 us) --> Read time : 180.731 us, Update time : 2288.281 us, Write time : 334.499 us[0m +142.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394221 ms (missed cycles : 4).[0m +142.99sWARNros2_control_nodeOverrun might occur, Total time : 2097.501 us (Expected < 1666.667 us) --> Read time : 142.308 us, Update time : 1589.322 us, Write time : 365.871 us[0m +143.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845215 ms (missed cycles : 2).[0m +143.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +144.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355513 ms (missed cycles : 4).[0m +145.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061033 ms (missed cycles : 3).[0m +146.03sWARNros2_control_nodeOverrun might occur, Total time : 1790.803 us (Expected < 1666.667 us) --> Read time : 139.928 us, Update time : 1281.404 us, Write time : 369.471 us[0m +146.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247215 ms (missed cycles : 2).[0m +147.04sWARNros2_control_nodeOverrun might occur, Total time : 1948.721 us (Expected < 1666.667 us) --> Read time : 134.158 us, Update time : 1512.316 us, Write time : 302.247 us[0m +147.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164224 ms (missed cycles : 2).[0m +148.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572028 ms (missed cycles : 3).[0m +148.35sWARNros2_control_nodeOverrun might occur, Total time : 5675.246 us (Expected < 1666.667 us) --> Read time : 149.618 us, Update time : 5022.439 us, Write time : 503.189 us[0m +149.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280079 ms (missed cycles : 2).[0m +149.45sWARNros2_control_nodeOverrun might occur, Total time : 1918.441 us (Expected < 1666.667 us) --> Read time : 177.921 us, Update time : 1415.971 us, Write time : 324.549 us[0m +150.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322620 ms (missed cycles : 5).[0m +151.14sWARNros2_control_nodeOverrun might occur, Total time : 1762.031 us (Expected < 1666.667 us) --> Read time : 110.976 us, Update time : 1139.596 us, Write time : 511.459 us[0m +151.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000036 ms (missed cycles : 5).[0m +152.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489881 ms (missed cycles : 4).[0m +153.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162945 ms (missed cycles : 2).[0m +153.72sWARNros2_control_nodeOverrun might occur, Total time : 3901.395 us (Expected < 1666.667 us) --> Read time : 129.807 us, Update time : 3423.498 us, Write time : 348.090 us[0m +154.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891753 ms (missed cycles : 6).[0m +155.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058303 ms (missed cycles : 4).[0m +155.61sWARNros2_control_nodeOverrun might occur, Total time : 2850.023 us (Expected < 1666.667 us) --> Read time : 151.768 us, Update time : 120.176 us, Write time : 2578.079 us[0m +156.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144467 ms (missed cycles : 2).[0m +156.73sWARNros2_control_nodeOverrun might occur, Total time : 1710.368 us (Expected < 1666.667 us) --> Read time : 224.563 us, Update time : 1098.633 us, Write time : 387.172 us[0m +157.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516947 ms (missed cycles : 3).[0m +158.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520660 ms (missed cycles : 6).[0m +158.80sWARNros2_control_nodeOverrun might occur, Total time : 3058.576 us (Expected < 1666.667 us) --> Read time : 141.838 us, Update time : 2557.977 us, Write time : 358.761 us[0m +159.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212703 ms (missed cycles : 4).[0m +159.90sWARNros2_control_nodeOverrun might occur, Total time : 8380.012 us (Expected < 1666.667 us) --> Read time : 150.849 us, Update time : 137.087 us, Write time : 8092.076 us[0m +160.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415509 ms (missed cycles : 3).[0m +160.94sWARNros2_control_nodeOverrun might occur, Total time : 4795.815 us (Expected < 1666.667 us) --> Read time : 278.816 us, Update time : 3903.174 us, Write time : 613.825 us[0m +161.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695115 ms (missed cycles : 3).[0m +162.19sWARNros2_control_nodeOverrun might occur, Total time : 1872.908 us (Expected < 1666.667 us) --> Read time : 148.489 us, Update time : 101.125 us, Write time : 1623.294 us[0m +162.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550807 ms (missed cycles : 3).[0m +163.20sWARNros2_control_nodeOverrun might occur, Total time : 4027.002 us (Expected < 1666.667 us) --> Read time : 228.813 us, Update time : 3391.525 us, Write time : 406.664 us[0m +163.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697554 ms (missed cycles : 4).[0m +164.20sWARNros2_control_nodeOverrun might occur, Total time : 2472.242 us (Expected < 1666.667 us) --> Read time : 181.531 us, Update time : 1826.314 us, Write time : 464.397 us[0m +164.20sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781196912.70956779 seconds +164.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781196913.26048875 seconds. +164.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348092 ms (missed cycles : 4).[0m +165.09sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). +165.29sWARNros2_control_nodeOverrun might occur, Total time : 2348.625 us (Expected < 1666.667 us) --> Read time : 132.058 us, Update time : 1868.197 us, Write time : 348.370 us[0m +166.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172837 ms (missed cycles : 2).[0m +166.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×3 +166.97sWARNros2_control_nodeOverrun might occur, Total time : 1864.378 us (Expected < 1666.667 us) --> Read time : 183.581 us, Update time : 793.416 us, Write time : 887.381 us[0m +167.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204448 ms (missed cycles : 5).[0m +168.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860472 ms (missed cycles : 2).[0m +168.88sWARNros2_control_nodeOverrun might occur, Total time : 1914.880 us (Expected < 1666.667 us) --> Read time : 133.367 us, Update time : 1470.975 us, Write time : 310.538 us[0m +169.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588923 ms (missed cycles : 3).[0m +170.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492510 ms (missed cycles : 3).[0m +170.61sWARNros2_control_nodeOverrun might occur, Total time : 4390.542 us (Expected < 1666.667 us) --> Read time : 130.607 us, Update time : 3731.905 us, Write time : 528.030 us[0m +171.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.811900 ms (missed cycles : 7).[0m +172.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.127710 ms (missed cycles : 6).[0m +173.41sWARNros2_control_nodeOverrun might occur, Total time : 2553.797 us (Expected < 1666.667 us) --> Read time : 543.321 us, Update time : 709.621 us, Write time : 1300.855 us[0m +173.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267651 ms (missed cycles : 2).[0m +174.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092689 ms (missed cycles : 2).[0m +175.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900880 ms (missed cycles : 2).[0m +176.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943969 ms (missed cycles : 3).[0m +176.64sWARNros2_control_nodeOverrun might occur, Total time : 1873.178 us (Expected < 1666.667 us) --> Read time : 152.528 us, Update time : 1386.750 us, Write time : 333.900 us[0m +177.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.522811 ms (missed cycles : 6).[0m +177.93sWARNros2_control_nodeOverrun might occur, Total time : 2164.455 us (Expected < 1666.667 us) --> Read time : 146.158 us, Update time : 78.655 us, Write time : 1939.642 us[0m +178.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915167 ms (missed cycles : 5).[0m +179.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577397 ms (missed cycles : 3).[0m +179.70sWARNros2_control_nodeOverrun might occur, Total time : 2434.189 us (Expected < 1666.667 us) --> Read time : 148.988 us, Update time : 1890.839 us, Write time : 394.362 us[0m +180.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719455 ms (missed cycles : 3).[0m +181.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783987 ms (missed cycles : 3).[0m +181.92sWARNros2_control_nodeOverrun might occur, Total time : 3208.085 us (Expected < 1666.667 us) --> Read time : 142.409 us, Update time : 2637.762 us, Write time : 427.914 us[0m +182.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414574 ms (missed cycles : 6).[0m +183.07sWARNros2_control_nodeOverrun might occur, Total time : 2069.729 us (Expected < 1666.667 us) --> Read time : 191.301 us, Update time : 1564.290 us, Write time : 314.138 us[0m +183.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213386 ms (missed cycles : 3).[0m +184.62sWARNros2_control_nodeOverrun might occur, Total time : 1721.260 us (Expected < 1666.667 us) --> Read time : 131.638 us, Update time : 123.267 us, Write time : 1466.355 us[0m +184.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694181 ms (missed cycles : 3).[0m +185.78sWARNros2_control_nodeOverrun might occur, Total time : 5937.712 us (Expected < 1666.667 us) --> Read time : 158.900 us, Update time : 5355.188 us, Write time : 423.624 us[0m +186.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028109 ms (missed cycles : 5).[0m +187.09sWARNros2_control_nodeOverrun might occur, Total time : 2148.543 us (Expected < 1666.667 us) --> Read time : 180.051 us, Update time : 1454.033 us, Write time : 514.459 us[0m +187.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829824 ms (missed cycles : 3).[0m +188.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688993 ms (missed cycles : 4).[0m +188.15sWARNros2_control_nodeOverrun might occur, Total time : 2094.429 us (Expected < 1666.667 us) --> Read time : 148.788 us, Update time : 186.030 us, Write time : 1759.611 us[0m +189.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933201 ms (missed cycles : 2).[0m +189.35sWARNros2_control_nodeOverrun might occur, Total time : 1741.621 us (Expected < 1666.667 us) --> Read time : 135.738 us, Update time : 285.757 us, Write time : 1320.126 us[0m +190.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784231 ms (missed cycles : 2).[0m +190.57sWARNros2_control_nodeOverrun might occur, Total time : 1768.132 us (Expected < 1666.667 us) --> Read time : 737.632 us, Update time : 171.690 us, Write time : 858.810 us[0m +191.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249995 ms (missed cycles : 3).[0m +191.74sWARNros2_control_nodeOverrun might occur, Total time : 2147.354 us (Expected < 1666.667 us) --> Read time : 123.937 us, Update time : 1726.060 us, Write time : 297.357 us[0m +192.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109042 ms (missed cycles : 2).[0m +192.99sWARNros2_control_nodeOverrun might occur, Total time : 4384.752 us (Expected < 1666.667 us) --> Read time : 307.277 us, Update time : 3701.643 us, Write time : 375.832 us[0m +193.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340718 ms (missed cycles : 2).[0m +194.22sWARNros2_control_nodeOverrun might occur, Total time : 2455.131 us (Expected < 1666.667 us) --> Read time : 127.377 us, Update time : 1996.265 us, Write time : 331.489 us[0m +194.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +194.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029104 ms (missed cycles : 3).[0m +195.05sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input contour must have at least 3 points. +195.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1781196943.56073523 seconds +195.32sWARNros2_control_nodeOverrun might occur, Total time : 1849.146 us (Expected < 1666.667 us) --> Read time : 166.059 us, Update time : 85.145 us, Write time : 1597.942 us[0m +195.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613960 ms (missed cycles : 3).[0m +195.71sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781196944.22125840 seconds. +196.05sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +196.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803616 ms (missed cycles : 2).[0m +197.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830412 ms (missed cycles : 2).[0m +197.96sWARNros2_control_nodeOverrun might occur, Total time : 2099.641 us (Expected < 1666.667 us) --> Read time : 163.210 us, Update time : 1584.451 us, Write time : 351.980 us[0m +198.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520485 ms (missed cycles : 6).[0m +199.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806266 ms (missed cycles : 3).[0m +199.95sWARNros2_control_nodeOverrun might occur, Total time : 1854.937 us (Expected < 1666.667 us) --> Read time : 143.789 us, Update time : 967.395 us, Write time : 743.753 us[0m +200.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671906 ms (missed cycles : 2).[0m +201.08sWARNros2_control_nodeOverrun might occur, Total time : 1901.769 us (Expected < 1666.667 us) --> Read time : 187.131 us, Update time : 201.101 us, Write time : 1513.537 us[0m +201.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734584 ms (missed cycles : 3).[0m +202.35sWARNros2_control_nodeOverrun might occur, Total time : 1834.376 us (Expected < 1666.667 us) --> Read time : 711.651 us, Update time : 178.710 us, Write time : 944.015 us[0m +202.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069265 ms (missed cycles : 7).[0m +203.69sWARNros2_control_nodeOverrun might occur, Total time : 2421.459 us (Expected < 1666.667 us) --> Read time : 299.197 us, Update time : 832.818 us, Write time : 1289.444 us[0m +203.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284026 ms (missed cycles : 2).[0m +204.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342338 ms (missed cycles : 3).[0m +205.53sWARNros2_control_nodeOverrun might occur, Total time : 2652.693 us (Expected < 1666.667 us) --> Read time : 324.609 us, Update time : 1812.904 us, Write time : 515.180 us[0m +205.77sINFOros2_control_nodeGot request to cancel goal[0m +205.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +205.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781196954.30030799 seconds +205.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002070 ms (missed cycles : 2).[0m +206.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781196954.85172462 seconds. +206.56sWARNros2_control_nodeOverrun might occur, Total time : 2078.619 us (Expected < 1666.667 us) --> Read time : 723.801 us, Update time : 518.860 us, Write time : 835.958 us[0m +206.71sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +206.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556819 ms (missed cycles : 3).[0m +208.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567515 ms (missed cycles : 3).[0m +208.19sWARNros2_control_nodeOverrun might occur, Total time : 3351.363 us (Expected < 1666.667 us) --> Read time : 2717.887 us, Update time : 138.478 us, Write time : 494.998 us[0m +209.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652909 ms (missed cycles : 3).[0m +209.42sWARNros2_control_nodeOverrun might occur, Total time : 4204.842 us (Expected < 1666.667 us) --> Read time : 134.218 us, Update time : 3684.422 us, Write time : 386.202 us[0m +210.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635407 ms (missed cycles : 4).[0m +210.54sWARNros2_control_nodeOverrun might occur, Total time : 4232.904 us (Expected < 1666.667 us) --> Read time : 139.248 us, Update time : 3697.003 us, Write time : 396.653 us[0m +211.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.604736 ms (missed cycles : 6).[0m +211.72sWARNros2_control_nodeOverrun might occur, Total time : 1862.398 us (Expected < 1666.667 us) --> Read time : 129.178 us, Update time : 1426.182 us, Write time : 307.038 us[0m +212.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112954 ms (missed cycles : 2).[0m +213.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.633350 ms (missed cycles : 6).[0m +213.48sWARNros2_control_nodeOverrun might occur, Total time : 1704.698 us (Expected < 1666.667 us) --> Read time : 650.728 us, Update time : 131.157 us, Write time : 922.813 us[0m +214.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367032 ms (missed cycles : 4).[0m +215.13sWARNros2_control_nodeOverrun might occur, Total time : 7062.337 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 77.104 us, Write time : 6831.464 us[0m +215.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435222 ms (missed cycles : 3).[0m +216.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824916 ms (missed cycles : 3).[0m +216.72sWARNros2_control_nodeOverrun might occur, Total time : 1833.316 us (Expected < 1666.667 us) --> Read time : 588.134 us, Update time : 470.597 us, Write time : 774.585 us[0m +217.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.666874 ms (missed cycles : 6).[0m +217.92sWARNros2_control_nodeOverrun might occur, Total time : 2996.043 us (Expected < 1666.667 us) --> Read time : 125.538 us, Update time : 2563.577 us, Write time : 306.928 us[0m +218.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239292 ms (missed cycles : 3).[0m +219.06sWARNros2_control_nodeOverrun might occur, Total time : 2017.296 us (Expected < 1666.667 us) --> Read time : 133.838 us, Update time : 1548.419 us, Write time : 335.039 us[0m +219.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717751 ms (missed cycles : 3).[0m +220.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244787 ms (missed cycles : 4).[0m +220.96sWARNros2_control_nodeOverrun might occur, Total time : 2015.006 us (Expected < 1666.667 us) --> Read time : 203.052 us, Update time : 1445.663 us, Write time : 366.291 us[0m +221.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493204 ms (missed cycles : 4).[0m +222.23sWARNros2_control_nodeOverrun might occur, Total time : 1787.043 us (Expected < 1666.667 us) --> Read time : 300.247 us, Update time : 1189.109 us, Write time : 297.687 us[0m +222.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102762 ms (missed cycles : 2).[0m +223.42sWARNros2_control_nodeOverrun might occur, Total time : 4012.370 us (Expected < 1666.667 us) --> Read time : 122.607 us, Update time : 3390.765 us, Write time : 498.998 us[0m +223.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089622 ms (missed cycles : 3).[0m +224.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.771490 ms (missed cycles : 6).[0m +224.80sWARNros2_control_nodeOverrun might occur, Total time : 2389.208 us (Expected < 1666.667 us) --> Read time : 168.690 us, Update time : 423.565 us, Write time : 1796.953 us[0m +225.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798701 ms (missed cycles : 3).[0m +226.13sWARNros2_control_nodeOverrun might occur, Total time : 1829.385 us (Expected < 1666.667 us) --> Read time : 160.139 us, Update time : 1342.967 us, Write time : 326.279 us[0m +226.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028622 ms (missed cycles : 4).[0m +227.28sWARNros2_control_nodeOverrun might occur, Total time : 3240.997 us (Expected < 1666.667 us) --> Read time : 131.118 us, Update time : 2782.110 us, Write time : 327.769 us[0m +227.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377506 ms (missed cycles : 3).[0m +228.49sWARNros2_control_nodeOverrun might occur, Total time : 5739.101 us (Expected < 1666.667 us) --> Read time : 125.347 us, Update time : 110.957 us, Write time : 5502.797 us[0m +228.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160995 ms (missed cycles : 3).[0m +229.96sWARNros2_control_nodeOverrun might occur, Total time : 5265.663 us (Expected < 1666.667 us) --> Read time : 192.051 us, Update time : 4674.329 us, Write time : 399.283 us[0m +229.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579076 ms (missed cycles : 4).[0m +231.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123336 ms (missed cycles : 2).[0m +231.02sWARNros2_control_nodeOverrun might occur, Total time : 2007.576 us (Expected < 1666.667 us) --> Read time : 154.569 us, Update time : 175.320 us, Write time : 1677.687 us[0m +232.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730516 ms (missed cycles : 3).[0m +232.42sWARNros2_control_nodeOverrun might occur, Total time : 4524.221 us (Expected < 1666.667 us) --> Read time : 122.457 us, Update time : 3858.653 us, Write time : 543.111 us[0m +233.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882091 ms (missed cycles : 2).[0m +233.46sWARNros2_control_nodeOverrun might occur, Total time : 2256.150 us (Expected < 1666.667 us) --> Read time : 226.684 us, Update time : 1448.133 us, Write time : 581.333 us[0m +234.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539417 ms (missed cycles : 5).[0m +234.50sWARNros2_control_nodeOverrun might occur, Total time : 4119.877 us (Expected < 1666.667 us) --> Read time : 102.306 us, Update time : 110.557 us, Write time : 3907.014 us[0m +235.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474583 ms (missed cycles : 3).[0m +235.55sWARNros2_control_nodeOverrun might occur, Total time : 3109.178 us (Expected < 1666.667 us) --> Read time : 158.519 us, Update time : 2605.940 us, Write time : 344.719 us[0m +236.13sINFOobjective_server_nodePlanning for 33 path waypoints. ×2 +236.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357305 ms (missed cycles : 3).[0m +237.05sWARNros2_control_nodeOverrun might occur, Total time : 2030.347 us (Expected < 1666.667 us) --> Read time : 172.630 us, Update time : 894.221 us, Write time : 963.496 us[0m +237.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093163 ms (missed cycles : 2).[0m +238.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230881 ms (missed cycles : 2).[0m +238.49sWARNros2_control_nodeOverrun might occur, Total time : 3706.173 us (Expected < 1666.667 us) --> Read time : 135.398 us, Update time : 201.481 us, Write time : 3369.294 us[0m +239.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545885 ms (missed cycles : 3).[0m +239.57sWARNros2_control_nodeOverrun might occur, Total time : 2166.054 us (Expected < 1666.667 us) --> Read time : 197.071 us, Update time : 1591.721 us, Write time : 377.262 us[0m +240.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460989 ms (missed cycles : 3).[0m +240.58sWARNros2_control_nodeOverrun might occur, Total time : 1967.153 us (Expected < 1666.667 us) --> Read time : 117.987 us, Update time : 99.096 us, Write time : 1750.070 us[0m +241.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014559 ms (missed cycles : 2).[0m +242.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936537 ms (missed cycles : 4).[0m +242.96sWARNros2_control_nodeOverrun might occur, Total time : 3781.168 us (Expected < 1666.667 us) --> Read time : 3278.689 us, Update time : 155.599 us, Write time : 346.880 us[0m +243.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659283 ms (missed cycles : 3).[0m +244.11sWARNros2_control_nodeOverrun might occur, Total time : 2658.983 us (Expected < 1666.667 us) --> Read time : 122.437 us, Update time : 2030.217 us, Write time : 506.329 us[0m +244.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351953 ms (missed cycles : 2).[0m +245.20sWARNros2_control_nodeOverrun might occur, Total time : 2219.378 us (Expected < 1666.667 us) --> Read time : 275.176 us, Update time : 580.023 us, Write time : 1364.179 us[0m +245.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090506 ms (missed cycles : 2).[0m +246.53sWARNros2_control_nodeOverrun might occur, Total time : 2045.668 us (Expected < 1666.667 us) --> Read time : 164.540 us, Update time : 83.625 us, Write time : 1797.503 us[0m +246.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736277 ms (missed cycles : 2).[0m +247.61sWARNros2_control_nodeOverrun might occur, Total time : 2002.916 us (Expected < 1666.667 us) --> Read time : 177.721 us, Update time : 1492.686 us, Write time : 332.509 us[0m +247.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793494 ms (missed cycles : 3).[0m +248.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.674618 ms (missed cycles : 6).[0m +249.19sWARNros2_control_nodeOverrun might occur, Total time : 4389.433 us (Expected < 1666.667 us) --> Read time : 1010.129 us, Update time : 2911.547 us, Write time : 467.757 us[0m +249.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.320204 ms (missed cycles : 7).[0m +250.32sWARNros2_control_nodeOverrun might occur, Total time : 4396.773 us (Expected < 1666.667 us) --> Read time : 132.058 us, Update time : 3897.854 us, Write time : 366.861 us[0m +250.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478945 ms (missed cycles : 5).[0m +251.48sWARNros2_control_nodeOverrun might occur, Total time : 2568.418 us (Expected < 1666.667 us) --> Read time : 1826.185 us, Update time : 149.459 us, Write time : 592.774 us[0m +251.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701815 ms (missed cycles : 3).[0m +252.69sINFOobjective_server_nodePlanning for 36 path waypoints. +252.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098048 ms (missed cycles : 4).[0m +253.10sWARNros2_control_nodeOverrun might occur, Total time : 1762.331 us (Expected < 1666.667 us) --> Read time : 135.098 us, Update time : 492.538 us, Write time : 1134.695 us[0m +254.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366149 ms (missed cycles : 3).[0m +255.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190908 ms (missed cycles : 2).[0m +255.31sWARNros2_control_nodeOverrun might occur, Total time : 2253.370 us (Expected < 1666.667 us) --> Read time : 143.549 us, Update time : 278.936 us, Write time : 1830.885 us[0m +256.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880983 ms (missed cycles : 2).[0m +256.81sWARNros2_control_nodeOverrun might occur, Total time : 1854.486 us (Expected < 1666.667 us) --> Read time : 137.387 us, Update time : 121.287 us, Write time : 1595.812 us[0m +257.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662486 ms (missed cycles : 3).[0m +257.94sWARNros2_control_nodeOverrun might occur, Total time : 2505.384 us (Expected < 1666.667 us) --> Read time : 127.187 us, Update time : 186.491 us, Write time : 2191.706 us[0m +258.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.579288 ms (missed cycles : 6).[0m +259.20sWARNros2_control_nodeOverrun might occur, Total time : 5808.114 us (Expected < 1666.667 us) --> Read time : 149.709 us, Update time : 5251.282 us, Write time : 407.123 us[0m +259.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236476 ms (missed cycles : 4).[0m +260.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813007 ms (missed cycles : 3).[0m +260.47sWARNros2_control_nodeOverrun might occur, Total time : 1809.694 us (Expected < 1666.667 us) --> Read time : 143.798 us, Update time : 537.931 us, Write time : 1127.965 us[0m +261.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743661 ms (missed cycles : 5).[0m +261.93sWARNros2_control_nodeOverrun might occur, Total time : 2235.099 us (Expected < 1666.667 us) --> Read time : 173.140 us, Update time : 1638.854 us, Write time : 423.105 us[0m +262.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066446 ms (missed cycles : 2).[0m +263.12sWARNros2_control_nodeOverrun might occur, Total time : 2365.426 us (Expected < 1666.667 us) --> Read time : 155.689 us, Update time : 159.649 us, Write time : 2050.088 us[0m +263.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298922 ms (missed cycles : 2).[0m +263.46sINFOros2_control_nodeMuJoCo sim: 1.01% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +264.19sWARNros2_control_nodeOverrun might occur, Total time : 2119.411 us (Expected < 1666.667 us) --> Read time : 150.699 us, Update time : 148.788 us, Write time : 1819.924 us[0m +264.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323241 ms (missed cycles : 3).[0m +265.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978818 ms (missed cycles : 3).[0m +266.21sWARNros2_control_nodeOverrun might occur, Total time : 3630.789 us (Expected < 1666.667 us) --> Read time : 128.967 us, Update time : 3079.378 us, Write time : 422.444 us[0m +266.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027444 ms (missed cycles : 5).[0m +267.32sWARNros2_control_nodeOverrun might occur, Total time : 2016.116 us (Expected < 1666.667 us) --> Read time : 139.918 us, Update time : 447.036 us, Write time : 1429.162 us[0m +267.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073510 ms (missed cycles : 4).[0m +268.45sWARNros2_control_nodeOverrun might occur, Total time : 2580.439 us (Expected < 1666.667 us) --> Read time : 177.280 us, Update time : 460.227 us, Write time : 1942.932 us[0m +268.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979239 ms (missed cycles : 3).[0m +269.56sWARNros2_control_nodeOverrun might occur, Total time : 1784.691 us (Expected < 1666.667 us) --> Read time : 194.221 us, Update time : 1213.969 us, Write time : 376.501 us[0m +269.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013648 ms (missed cycles : 2).[0m +270.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737016 ms (missed cycles : 2).[0m +270.80sWARNros2_control_nodeOverrun might occur, Total time : 1961.123 us (Expected < 1666.667 us) --> Read time : 127.297 us, Update time : 645.287 us, Write time : 1188.539 us[0m +271.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214956 ms (missed cycles : 4).[0m +271.89sWARNros2_control_nodeOverrun might occur, Total time : 2828.433 us (Expected < 1666.667 us) --> Read time : 372.122 us, Update time : 1987.864 us, Write time : 468.447 us[0m +272.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756904 ms (missed cycles : 3).[0m +273.28sWARNros2_control_nodeOverrun might occur, Total time : 4393.523 us (Expected < 1666.667 us) --> Read time : 154.999 us, Update time : 3855.472 us, Write time : 383.052 us[0m +273.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258553 ms (missed cycles : 5).[0m +274.42sWARNros2_control_nodeOverrun might occur, Total time : 2110.502 us (Expected < 1666.667 us) --> Read time : 1522.688 us, Update time : 176.130 us, Write time : 411.684 us[0m +274.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758586 ms (missed cycles : 3).[0m +275.63sWARNros2_control_nodeOverrun might occur, Total time : 4471.558 us (Expected < 1666.667 us) --> Read time : 195.272 us, Update time : 3905.815 us, Write time : 370.471 us[0m +275.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934691 ms (missed cycles : 4).[0m +276.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008924 ms (missed cycles : 2).[0m +277.15sWARNros2_control_nodeOverrun might occur, Total time : 8678.730 us (Expected < 1666.667 us) --> Read time : 126.127 us, Update time : 7915.866 us, Write time : 636.737 us[0m +277.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095692 ms (missed cycles : 2).[0m +278.34sWARNros2_control_nodeOverrun might occur, Total time : 3623.169 us (Expected < 1666.667 us) --> Read time : 188.531 us, Update time : 171.060 us, Write time : 3263.578 us[0m +278.72sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197027.23190212 seconds +278.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898155 ms (missed cycles : 3).[0m +279.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197027.79586411 seconds. +279.64sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +279.94sWARNros2_control_nodeOverrun might occur, Total time : 1781.832 us (Expected < 1666.667 us) --> Read time : 157.159 us, Update time : 1328.246 us, Write time : 296.427 us[0m +279.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027518 ms (missed cycles : 2).[0m +281.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949730 ms (missed cycles : 3).[0m +281.08sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +281.39sWARNros2_control_nodeOverrun might occur, Total time : 1760.841 us (Expected < 1666.667 us) --> Read time : 192.561 us, Update time : 200.772 us, Write time : 1367.508 us[0m +282.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583883 ms (missed cycles : 4).[0m +282.81sWARNros2_control_nodeOverrun might occur, Total time : 1765.682 us (Expected < 1666.667 us) --> Read time : 180.710 us, Update time : 1257.953 us, Write time : 327.019 us[0m +283.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965425 ms (missed cycles : 2).[0m +284.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315607 ms (missed cycles : 2).[0m +284.20sWARNros2_control_nodeOverrun might occur, Total time : 1985.724 us (Expected < 1666.667 us) --> Read time : 1162.237 us, Update time : 515.659 us, Write time : 307.828 us[0m +285.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585226 ms (missed cycles : 4).[0m +286.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247861 ms (missed cycles : 2).[0m +286.70sWARNros2_control_nodeOverrun might occur, Total time : 4282.966 us (Expected < 1666.667 us) --> Read time : 3725.504 us, Update time : 152.959 us, Write time : 404.503 us[0m +287.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134581 ms (missed cycles : 4).[0m +288.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.175145 ms (missed cycles : 5).[0m +288.57sWARNros2_control_nodeOverrun might occur, Total time : 5976.985 us (Expected < 1666.667 us) --> Read time : 174.930 us, Update time : 5351.149 us, Write time : 450.906 us[0m +289.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827471 ms (missed cycles : 3).[0m +290.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458198 ms (missed cycles : 5).[0m +290.82sWARNros2_control_nodeOverrun might occur, Total time : 2220.278 us (Expected < 1666.667 us) --> Read time : 148.479 us, Update time : 1692.517 us, Write time : 379.282 us[0m +291.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024939 ms (missed cycles : 5).[0m +292.25sWARNros2_control_nodeOverrun might occur, Total time : 3127.981 us (Expected < 1666.667 us) --> Read time : 159.510 us, Update time : 2508.694 us, Write time : 459.777 us[0m +292.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191197 ms (missed cycles : 3).[0m +293.34sWARNros2_control_nodeOverrun might occur, Total time : 2415.889 us (Expected < 1666.667 us) --> Read time : 178.100 us, Update time : 96.116 us, Write time : 2141.673 us[0m +293.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.593335 ms (missed cycles : 6).[0m +294.34sWARNros2_control_nodeOverrun might occur, Total time : 1746.301 us (Expected < 1666.667 us) --> Read time : 142.668 us, Update time : 219.773 us, Write time : 1383.860 us[0m +294.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048467 ms (missed cycles : 3).[0m +295.79sWARNros2_control_nodeOverrun might occur, Total time : 1797.393 us (Expected < 1666.667 us) --> Read time : 118.597 us, Update time : 1056.190 us, Write time : 622.606 us[0m +295.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865609 ms (missed cycles : 2).[0m +296.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.418118 ms (missed cycles : 6).[0m +297.54sWARNros2_control_nodeOverrun might occur, Total time : 4032.262 us (Expected < 1666.667 us) --> Read time : 129.448 us, Update time : 3284.349 us, Write time : 618.465 us[0m +297.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210358 ms (missed cycles : 2).[0m +298.94sWARNros2_control_nodeOverrun might occur, Total time : 3542.544 us (Expected < 1666.667 us) --> Read time : 111.866 us, Update time : 3071.997 us, Write time : 358.681 us[0m +299.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612693 ms (missed cycles : 4).[0m +300.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939755 ms (missed cycles : 4).[0m +300.33sWARNros2_control_nodeOverrun might occur, Total time : 2238.609 us (Expected < 1666.667 us) --> Read time : 125.847 us, Update time : 1783.033 us, Write time : 329.729 us[0m +301.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667506 ms (missed cycles : 2).[0m +301.39sWARNros2_control_nodeOverrun might occur, Total time : 1795.524 us (Expected < 1666.667 us) --> Read time : 677.489 us, Update time : 150.989 us, Write time : 967.046 us[0m +302.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143204 ms (missed cycles : 5).[0m +302.39sWARNros2_control_nodeOverrun might occur, Total time : 4241.104 us (Expected < 1666.667 us) --> Read time : 151.399 us, Update time : 3713.513 us, Write time : 376.192 us[0m +303.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737288 ms (missed cycles : 2).[0m +304.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041572 ms (missed cycles : 2).[0m +304.45sWARNros2_control_nodeOverrun might occur, Total time : 2474.373 us (Expected < 1666.667 us) --> Read time : 174.140 us, Update time : 164.570 us, Write time : 2135.663 us[0m +305.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509058 ms (missed cycles : 2).[0m +305.51sWARNros2_control_nodeOverrun might occur, Total time : 4817.595 us (Expected < 1666.667 us) --> Read time : 126.307 us, Update time : 672.148 us, Write time : 4019.140 us[0m +306.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623629 ms (missed cycles : 3).[0m +306.69sWARNros2_control_nodeOverrun might occur, Total time : 4983.417 us (Expected < 1666.667 us) --> Read time : 122.007 us, Update time : 4532.341 us, Write time : 329.069 us[0m +307.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101576 ms (missed cycles : 2).[0m +307.88sWARNros2_control_nodeOverrun might occur, Total time : 2696.315 us (Expected < 1666.667 us) --> Read time : 287.967 us, Update time : 159.549 us, Write time : 2248.799 us[0m +308.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585003 ms (missed cycles : 3).[0m +309.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566585 ms (missed cycles : 6).[0m +310.11sWARNros2_control_nodeOverrun might occur, Total time : 4135.448 us (Expected < 1666.667 us) --> Read time : 146.528 us, Update time : 3594.397 us, Write time : 394.523 us[0m +310.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762516 ms (missed cycles : 3).[0m +311.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324290 ms (missed cycles : 3).[0m +311.64sWARNros2_control_nodeOverrun might occur, Total time : 2640.272 us (Expected < 1666.667 us) --> Read time : 149.448 us, Update time : 2033.898 us, Write time : 456.926 us[0m +312.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.989351 ms (missed cycles : 8).[0m +313.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678663 ms (missed cycles : 3).[0m +314.51sWARNros2_control_nodeOverrun might occur, Total time : 2737.968 us (Expected < 1666.667 us) --> Read time : 131.048 us, Update time : 1525.807 us, Write time : 1081.113 us[0m +314.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375535 ms (missed cycles : 3).[0m +315.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852925 ms (missed cycles : 3).[0m +316.01sWARNros2_control_nodeOverrun might occur, Total time : 9774.832 us (Expected < 1666.667 us) --> Read time : 189.521 us, Update time : 144.548 us, Write time : 9440.763 us[0m +316.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153332 ms (missed cycles : 2).[0m +317.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777941 ms (missed cycles : 2).[0m +317.87sWARNros2_control_nodeOverrun might occur, Total time : 3723.074 us (Expected < 1666.667 us) --> Read time : 607.785 us, Update time : 231.743 us, Write time : 2883.546 us[0m +318.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720830 ms (missed cycles : 2).[0m +319.50sWARNros2_control_nodeOverrun might occur, Total time : 2533.866 us (Expected < 1666.667 us) --> Read time : 98.596 us, Update time : 2097.970 us, Write time : 337.300 us[0m +319.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543411 ms (missed cycles : 5).[0m +320.65sWARNros2_control_nodeOverrun might occur, Total time : 3292.450 us (Expected < 1666.667 us) --> Read time : 125.988 us, Update time : 2802.501 us, Write time : 363.961 us[0m +320.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058593 ms (missed cycles : 5).[0m +321.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507762 ms (missed cycles : 3).[0m +322.50sWARNros2_control_nodeOverrun might occur, Total time : 3703.553 us (Expected < 1666.667 us) --> Read time : 145.839 us, Update time : 3194.023 us, Write time : 363.691 us[0m +322.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620774 ms (missed cycles : 3).[0m +323.46sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +323.70sWARNros2_control_nodeOverrun might occur, Total time : 2169.235 us (Expected < 1666.667 us) --> Read time : 515.980 us, Update time : 616.905 us, Write time : 1036.350 us[0m +324.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159433 ms (missed cycles : 3).[0m +325.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766432 ms (missed cycles : 2).[0m +325.11sWARNros2_control_nodeOverrun might occur, Total time : 2676.414 us (Expected < 1666.667 us) --> Read time : 150.589 us, Update time : 2137.993 us, Write time : 387.832 us[0m +326.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988940 ms (missed cycles : 2).[0m +326.57sWARNros2_control_nodeOverrun might occur, Total time : 2264.729 us (Expected < 1666.667 us) --> Read time : 121.717 us, Update time : 1816.574 us, Write time : 326.438 us[0m +327.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322852 ms (missed cycles : 2).[0m +328.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838067 ms (missed cycles : 3).[0m +328.63sWARNros2_control_nodeOverrun might occur, Total time : 4263.175 us (Expected < 1666.667 us) --> Read time : 127.877 us, Update time : 3756.727 us, Write time : 378.571 us[0m +329.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.616328 ms (missed cycles : 6).[0m +330.27sWARNros2_control_nodeOverrun might occur, Total time : 10602.479 us (Expected < 1666.667 us) --> Read time : 166.850 us, Update time : 9948.451 us, Write time : 487.178 us[0m +330.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760375 ms (missed cycles : 2).[0m +331.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679886 ms (missed cycles : 2).[0m +331.70sWARNros2_control_nodeOverrun might occur, Total time : 2195.016 us (Expected < 1666.667 us) --> Read time : 375.761 us, Update time : 681.750 us, Write time : 1137.505 us[0m +332.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074818 ms (missed cycles : 6).[0m +333.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399193 ms (missed cycles : 6).[0m +333.88sWARNros2_control_nodeOverrun might occur, Total time : 2994.473 us (Expected < 1666.667 us) --> Read time : 147.979 us, Update time : 2399.458 us, Write time : 447.036 us[0m +334.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659203 ms (missed cycles : 6).[0m +334.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781197082.96603155 seconds +335.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781197083.52114701 seconds. +335.35sWARNros2_control_nodeOverrun might occur, Total time : 1827.184 us (Expected < 1666.667 us) --> Read time : 137.917 us, Update time : 1385.229 us, Write time : 304.038 us[0m +335.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744600 ms (missed cycles : 3).[0m +336.50sWARNros2_control_nodeOverrun might occur, Total time : 2072.039 us (Expected < 1666.667 us) --> Read time : 183.451 us, Update time : 1521.287 us, Write time : 367.301 us[0m +336.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498767 ms (missed cycles : 2).[0m +337.59sWARNros2_control_nodeOverrun might occur, Total time : 1672.736 us (Expected < 1666.667 us) --> Read time : 145.468 us, Update time : 1214.260 us, Write time : 313.008 us[0m +337.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343106 ms (missed cycles : 2).[0m +338.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135634 ms (missed cycles : 2).[0m +339.43sWARNros2_control_nodeOverrun might occur, Total time : 1753.121 us (Expected < 1666.667 us) --> Read time : 182.781 us, Update time : 1190.738 us, Write time : 379.602 us[0m +339.65sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). +339.67sINFOobjective_server_nodePath shortcutter: [X__________________X] +339.71sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +339.73sINFOobjective_server_nodePath shortcutter: [X____________________X] +339.77sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). +339.82sINFOobjective_server_nodePath shortcutter: [X_________________________X] +339.85sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). +339.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955418 ms (missed cycles : 5).[0m +339.99sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +340.03sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +340.31sINFOobjective_server_nodeFound path in 69 iterations (0.052386 s). +340.45sWARNros2_control_nodeOverrun might occur, Total time : 2875.736 us (Expected < 1666.667 us) --> Read time : 419.214 us, Update time : 204.352 us, Write time : 2252.170 us[0m +340.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +340.55sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). +340.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295015 ms (missed cycles : 2).[0m +340.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +340.97sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +341.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +341.32sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +341.51sWARNros2_control_nodeOverrun might occur, Total time : 4400.534 us (Expected < 1666.667 us) --> Read time : 173.420 us, Update time : 3813.550 us, Write time : 413.564 us[0m +341.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032023 ms (missed cycles : 2).[0m +342.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021315 ms (missed cycles : 5).[0m +343.10sWARNros2_control_nodeOverrun might occur, Total time : 2540.596 us (Expected < 1666.667 us) --> Read time : 157.119 us, Update time : 1975.884 us, Write time : 407.593 us[0m +344.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766027 ms (missed cycles : 6).[0m +344.99sWARNros2_control_nodeOverrun might occur, Total time : 3791.819 us (Expected < 1666.667 us) --> Read time : 133.188 us, Update time : 3321.901 us, Write time : 336.730 us[0m +345.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219154 ms (missed cycles : 2).[0m +346.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950432 ms (missed cycles : 2).[0m +346.23sWARNros2_control_nodeOverrun might occur, Total time : 5014.708 us (Expected < 1666.667 us) --> Read time : 238.653 us, Update time : 4345.820 us, Write time : 430.235 us[0m +347.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072853 ms (missed cycles : 3).[0m +347.31sWARNros2_control_nodeOverrun might occur, Total time : 3486.871 us (Expected < 1666.667 us) --> Read time : 133.288 us, Update time : 2920.388 us, Write time : 433.195 us[0m +347.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197095.81751037 seconds +347.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197096.40430903 seconds. +348.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550439 ms (missed cycles : 3).[0m +348.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197096.93959260 seconds +348.69sWARNros2_control_nodeOverrun might occur, Total time : 1676.467 us (Expected < 1666.667 us) --> Read time : 569.833 us, Update time : 158.549 us, Write time : 948.085 us[0m +348.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197097.49019241 seconds. +349.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409139 ms (missed cycles : 2).[0m +349.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197097.96034122 seconds +349.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +350.25sWARNros2_control_nodeOverrun might occur, Total time : 3114.848 us (Expected < 1666.667 us) --> Read time : 150.738 us, Update time : 2574.657 us, Write time : 389.453 us[0m +350.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304982 ms (missed cycles : 4).[0m +351.05sWARNros2_control_nodeOverrun might occur, Total time : 2346.135 us (Expected < 1666.667 us) --> Read time : 178.470 us, Update time : 1836.136 us, Write time : 331.529 us[0m +351.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744849 ms (missed cycles : 2).[0m +352.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948100 ms (missed cycles : 3).[0m +352.90sWARNros2_control_nodeOverrun might occur, Total time : 1681.287 us (Expected < 1666.667 us) --> Read time : 615.055 us, Update time : 495.629 us, Write time : 570.603 us[0m +353.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645468 ms (missed cycles : 3).[0m +353.95sWARNros2_control_nodeOverrun might occur, Total time : 4353.400 us (Expected < 1666.667 us) --> Read time : 156.699 us, Update time : 3758.856 us, Write time : 437.845 us[0m +354.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667823 ms (missed cycles : 4).[0m +355.26sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.26sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.27sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.27sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.27sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.28sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.28sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.29sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.29sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.30sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.30sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.31sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.31sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.32sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.32sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.33sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.33sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.33sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +355.35sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.36sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.36sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +355.37sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +355.39sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +355.41sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +355.43sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +355.46sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +355.48sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +355.50sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +355.52sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +355.54sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +355.56sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +355.58sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +355.61sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +355.62sINFOweb_video_server-31process has finished cleanly [pid 9383] +355.63sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +355.65sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +355.66sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9381] +355.68sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +355.68sERRORmove_group-20process has died [pid 9309, 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_j9_kdguk --params-file /tmp/launch_params__wfobni_ --params-file /tmp/launch_params_lpxhbeof --params-file /tmp/launch_params_pmilm7hr --params-file /tmp/launch_params_piz7hvv_ --params-file /tmp/launch_params_wdzoegd1 --params-file /tmp/launch_params_1jn_m3oj --params-file /tmp/launch_params_kjzfv75_ --params-file /tmp/launch_params_i46x0yvg']. +355.69sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +355.70sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +355.71sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +355.73sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +355.75sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +355.75sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +355.75sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +355.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982052 ms (missed cycles : 2).[0m +355.75sERRORui_teleop_bridgeTraceback (most recent call last): +355.75sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +355.75sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +355.75sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +355.75sINFOui_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 +355.75sINFOui_teleop_bridgerclpy.shutdown() +355.75sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +355.75sINFOui_teleop_bridge_shutdown(context=context) +355.75sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +355.75sINFOui_teleop_bridgecontext.shutdown() +355.75sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +355.75sINFOui_teleop_bridgeself.__context.shutdown() +355.75sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +355.75sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +355.75sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +355.75sWARNros2_control_nodeOverrun might occur, Total time : 1688.696 us (Expected < 1666.667 us) --> Read time : 204.371 us, Update time : 828.757 us, Write time : 655.568 us[0m +355.76sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +355.76sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +355.76sINFOcomponent_container_mtStopping planning scene monitor[0m +355.76sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +355.76sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +355.76sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +355.76sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +355.76sERRORmove_groupwhat(): context cannot be slept with because it's invalid +355.76sERRORmove_groupStack trace (most recent call last) in thread 9873: +355.76sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +355.76sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f51099aca63, in __clone +355.76sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f510991faa3, in +355.76sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5109bb1db3, in +355.76sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f510a20619a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +355.76sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5109f244d0, in rclcpp::Rate::sleep() +355.76sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5109e77a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +355.76sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5109e3ca71, in +355.76sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5109b80390, in __cxa_throw +355.76sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5109b6aa54, in std::terminate() +355.76sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5109b800d9, in +355.76sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5109b6aff4, in +355.76sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f51098ab8fe, in abort +355.76sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f51098c827d, in raise +355.76sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5109921b2c, in pthread_kill +355.76sERRORmove_groupAborted (Signal sent by tkill() 9309 0) +355.76sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +355.76sINFOros2_control_nodeShutdown request received....[0m +355.76sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +355.76sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +355.76sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +355.76sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +355.76sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +355.76sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +355.76sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +355.76sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +355.76sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +355.76sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +355.76sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +355.76sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +355.76sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +355.76sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +355.76sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +355.76sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +355.76sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +355.77sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +355.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +355.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +355.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +355.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +355.77sINFOros2_control_nodeShutting down the controller manager.[0m +355.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +355.77sINFOobjective_server_node[2026-06-11 16:58:24.128] [moveit_pro_license] [info] +355.77sINFOobjective_server_node* Application has successfully terminated +355.77sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +355.77sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +355.77sERRORobjective_server_nodeStack trace (most recent call last): +355.77sERRORobjective_server_node_main-25process has died [pid 9359, 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_w2mpj75a --params-file /tmp/launch_params_14vl7v3i --params-file /tmp/launch_params_3rfj8vav --params-file /tmp/launch_params_x65oqq1m --params-file /tmp/launch_params_r4e8uy_i --params-file /tmp/launch_params_3d_tvnte']. +355.77sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +355.77sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564bfe12e6a4, in _start +355.77sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd972daf28a, in __libc_start_main +355.77sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd972daf1d0, in +355.77sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd972dccbbd, in exit +355.77sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd972dcca75, in +355.77sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd97329e4a2, in spdlog::details::registry::~registry() +355.77sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd9732a969d, 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() +355.77sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd9732a3965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +355.77sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564bfe135315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +355.77sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564bfe1345a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +355.77sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564bfe130b7b, in spdlog_ros::RosSink::~RosSink() +355.77sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564bfe12ed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +355.77sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd97392f454, in rclcpp::Node::~Node() +355.77sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9738ea515, in +355.77sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd97392dd20, in +355.77sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd97392dc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +355.77sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9738ea5d9, in +355.77sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9738ef161, in rclcpp::CallbackGroup::~CallbackGroup() +355.77sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd93b1d8450]) +355.78sERRORodom_qos_relay.pyTraceback (most recent call last): +355.78sINFOodom_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> +355.78sINFOodom_qos_relay.pymain() +355.78sINFOodom_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 +355.78sINFOodom_qos_relay.pyrclpy.spin(node) +355.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +355.78sINFOodom_qos_relay.pyexecutor.spin_once() +355.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +355.78sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +355.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +355.78sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +355.78sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +355.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +355.78sINFOodom_qos_relay.pyreturn next(self._cb_iter) +355.78sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +355.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +355.78sINFOodom_qos_relay.pyraise ExternalShutdownException() +355.78sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +355.78sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +355.78sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +355.78sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +355.83sINFOros2_control_nodeAsync messages lost 0[0m ×2 +355.83sINFOros2_control_nodepublish_async_failures_ 1[0m +355.83sINFOros2_control_nodepublish_async_failures_ 2[0m +356.55sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9358] +356.55sINFOexecute_objective_bridge-27process has finished cleanly [pid 9361] +356.55sERRORui_teleop_bridge-28process has died [pid 9365, 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_sbiel9mp']. +356.57sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9315] +356.65sINFOparameter_manager_node-21process has finished cleanly [pid 9311] +356.66sINFOwaypoint_manager_node-22process has finished cleanly [pid 9314] +356.67sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9211] +356.69sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9210] +356.73sINFOstatic_transform_publisher-4process has finished cleanly [pid 9208] +356.75sINFOstatic_transform_publisher-3process has finished cleanly [pid 9207] +356.76sINFOcomponent_container_mt-26process has finished cleanly [pid 9360] +356.77sINFOstatic_transform_publisher-2process has finished cleanly [pid 9206] +356.77sERRORodom_qos_relay.py-5process has died [pid 9209, 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']. +357.89sINFOweb_bridge-29process has finished cleanly [pid 9380] +357.90sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +358.43sINFOros2_control_node-8process has finished cleanly [pid 9212] +360.26sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +360.27sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +360.28sERRORcomponent_container_isolated-1process has died [pid 9205, 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_cardjtq7 --params-file /tmp/launch_params_6knir0pu -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +367.98sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-16-58-33-301024-786d0e0a1ec8-10198 ×2 +378.15sINFOstatic_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' +378.15sINFOstatic_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' +378.15sINFOstatic_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' +378.26sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +378.29sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +378.30sINFOcontroller_managerupdate rate is 600 Hz +378.30sINFOcontroller_managerOverruns handling is : enabled +378.30sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +378.30sWARNcontroller_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. +378.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +378.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419731 ms (missed cycles : 2). +378.37sINFOros2_control_node-8process started with pid [10254] ×2 +378.37sINFOmove_group-20process started with pid [10352] ×2 +378.37sINFOparameter_manager_node-21process started with pid [10354] ×2 +378.37sINFOwaypoint_manager_node-22process started with pid [10356] ×2 +378.37sINFOmove_joint_resampler_node-23process started with pid [10357] ×2 +378.37sINFOmove_end_effector_resampler_node-24process started with pid [10415] ×2 +378.37sINFOobjective_server_node_main-25process started with pid [10416] ×2 +378.37sINFOcomponent_container_mt-26process started with pid [10417] ×2 +378.37sINFOexecute_objective_bridge-27process started with pid [10418] ×2 +378.37sINFOui_teleop_bridge-28process started with pid [10419] ×2 +378.37sINFOweb_bridge-29process started with pid [10420] ×2 +378.37sINFOtf2_web_republisher_node-30process started with pid [10421] ×2 +378.37sINFOweb_video_server-31process started with pid [10426] ×2 +378.38sINFOcomponent_container_isolated-1process started with pid [10247] ×2 +378.38sINFOstatic_transform_publisher-2process started with pid [10248] ×2 +378.38sINFOstatic_transform_publisher-3process started with pid [10249] ×2 +378.38sINFOstatic_transform_publisher-4process started with pid [10250] ×2 +378.38sINFOodom_qos_relay.py-5process started with pid [10251] ×2 +378.38sINFOscan_to_scan_filter_chain-6process started with pid [10252] ×2 +378.38sINFOscan_to_scan_filter_chain-7process started with pid [10253] ×2 +378.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [10332] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [10333] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [10334] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [10336] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [10338] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [10340] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [10342] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [10343] ×2 +378.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [10346] ×2 +378.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [10348] ×2 +378.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [10350] ×2 +378.42sINFOcontroller_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. +378.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419731 ms (missed cycles : 2).[0m ×2 +378.53sINFOcontroller_serverCreating controller server +378.56sINFOlocal_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. +378.57sINFOlocal_costmap.local_costmapCreating Costmap +378.59sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +378.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +378.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +378.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +378.61sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +378.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +378.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +378.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +378.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +378.72sINFOmap_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. +378.72sINFOmap_serverCreating +378.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +378.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +378.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +378.74sINFOrobot_state_publisherRobot initialized +378.74sINFOcontroller_managerReceived robot description from topic. +378.74sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +378.77sINFOsmoother_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. +378.77sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +378.79sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +378.80sINFOsmoother_serverCreating smoother server +378.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +378.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +378.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +378.84sINFOlifecycle_manager_localizationCreating +378.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +378.85sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +378.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +378.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +378.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +378.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +378.86sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +378.86sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +378.86sINFOmap_serverConfiguring +378.91sINFOplanner_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. +378.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +378.93sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +378.93sINFOmap_serverActivating +378.93sINFOmap_serverCreating bond (map_server) to lifecycle manager. +378.94sINFOplanner_serverCreating +378.98sINFOglobal_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. +378.99sINFOglobal_costmap.global_costmapCreating Costmap +379.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +379.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +379.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +379.03sINFObehavior_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. +379.06sINFOlifecycle_manager_localizationServer map_server connected with bond. +379.06sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +379.06sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +379.06sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.457821 seconds +379.06sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +379.06sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +379.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +379.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +379.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +379.13sINFObt_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. +379.15sINFOmove_groupLoaded robot model in 0.457821 seconds[0m ×2 +379.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +379.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +379.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +379.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +379.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +379.15sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +379.15sINFObt_navigatorCreating +379.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +379.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +379.16sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +379.16sWARNlaser_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. +379.16sWARNlaser_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. +379.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +379.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +379.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +379.23sINFOwaypoint_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. +379.24sINFOwaypoint_followerCreating +379.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +379.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +379.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +379.29sINFOvelocity_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. +379.32sINFOlifecycle_manager_navigationCreating +379.32sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +379.34sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +379.34sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +379.34sINFOcontroller_serverConfiguring controller interface +379.34sINFOcontroller_servergetting progress checker plugins.. +379.34sINFOcontroller_servergetting goal checker plugins.. +379.34sINFOcontroller_serverController frequency set to 20.0000Hz +379.34sINFOlocal_costmap.local_costmapConfiguring +379.36sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +379.37sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +379.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.752473 ms (missed cycles : 7). +379.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.752473 ms (missed cycles : 7).[0m ×2 +379.42sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +379.42sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +379.42sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +379.46sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +379.47sINFOcontroller_serverController Server has progress_checker progress checkers available. +379.47sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +379.48sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +379.49sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +379.51sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +379.53sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +379.53sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +379.54sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +379.54sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +379.54sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +379.54sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +379.54sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +379.54sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +379.55sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +379.55sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +379.56sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +379.57sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +379.57sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +379.58sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +379.58sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +379.58sINFOwaypoint_manager_nodeLoaded robot model in 0.469779 seconds[0m ×2 +379.58sINFOcontroller_serverOptimizer reset +379.60sINFOcontroller_serverController Server has FollowPath controllers available. +379.61sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +379.61sINFOsmoother_serverConfiguring smoother server +379.63sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +379.63sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +379.65sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +379.65sINFOplanner_serverConfiguring +379.65sINFOglobal_costmap.global_costmapConfiguring +379.66sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +379.67sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +379.67sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +379.67sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +379.68sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +379.71sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +379.71sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +379.72sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +379.77sFATALplanner_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 +379.77sINFOplanner_serverCleaning up +379.77sINFOglobal_costmap.global_costmapCleaning up +379.77sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +379.86sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +379.86sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +380.04sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +380.21sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +380.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 +380.52sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +380.52sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +380.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707443 ms (missed cycles : 2). +380.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707443 ms (missed cycles : 2).[0m ×2 +380.72sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +380.72sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +380.72sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +380.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +380.72sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +380.73sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +380.73sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +380.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +380.73sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +380.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +380.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +381.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +381.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. +381.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +381.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +381.20sWARNcontroller_managerOverrun might occur, Total time : 1738.821 us (Expected < 1666.667 us) --> Read time : 199.692 us, Update time : 14.871 us, Write time : 1524.258 us +381.20sWARNros2_control_nodeOverrun might occur, Total time : 1738.821 us (Expected < 1666.667 us) --> Read time : 199.692 us, Update time : 14.871 us, Write time : 1524.258 us[0m ×2 +381.21sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +381.21sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +381.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +381.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +381.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +381.25sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +381.28sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster +381.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +381.29sINFOforce_torque_sensor_broadcasterconfigure successful +381.29sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +381.29sINFOcontroller_managerSuccessfully switched controllers! ×8 +381.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster +381.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +381.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +381.60sINFOobjective_server_node[2026-06-11 16:58:50.112] [moveit_pro_license] [info] ×2 +381.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10332] ×2 +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +381.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +381.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +381.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +381.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +381.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +381.85sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller +381.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +381.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +381.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +382.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227093 ms (missed cycles : 4). +382.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227093 ms (missed cycles : 4).[0m ×2 +382.04sINFOobjective_server_nodeLoaded robot model in 0.352648 seconds[0m ×2 +382.23sINFOros2_control_node[2026-06-11 16:58:50.738] [info] Controller state will be published at 20 Hz. ×2 +382.23sINFOros2_control_node[2026-06-11 16:58:50.739] [info] JointVelocityController 'on_configure' succeeded. ×2 +382.30sWARNcontroller_managerOverrun might occur, Total time : 2450.631 us (Expected < 1666.667 us) --> Read time : 164.889 us, Update time : 52.093 us, Write time : 2233.649 us +382.30sWARNros2_control_nodeOverrun might occur, Total time : 2450.631 us (Expected < 1666.667 us) --> Read time : 164.889 us, Update time : 52.093 us, Write time : 2233.649 us[0m ×2 +382.40sINFOcomponent_container_mtLoaded robot model in 0.408404 seconds[0m ×2 +382.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +382.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 +382.62sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +382.62sINFOcontroller_managerLoading controller 'vacuum_gripper' +382.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +382.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +382.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10350] ×2 +382.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +382.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper +382.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +382.66sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +382.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +382.66sWARNcontroller_managerOverrun might occur, Total time : 6071.889 us (Expected < 1666.667 us) --> Read time : 212.922 us, Update time : 5388.790 us (Switch time : 5346.477 us (Switch chained mode time : 0.570 us, perform mode change time : 5.000 us, Activation time : 5331.397 us, Deactivation time : 0.460 us)), Write time : 470.177 us +382.67sWARNros2_control_nodeOverrun might occur, Total time : 6071.889 us (Expected < 1666.667 us) --> Read time : 212.922 us, Update time : 5388.790 us (Switch time : 5346.477 us (Switch chained mode time : 0.570 us, perform mode change time : 5.000 us, Activation time : 5331.397 us, Deactivation time : 0.460 us)), Write time : 470.177 us[0m ×2 +382.67sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper +382.92sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +383.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784901 ms (missed cycles : 2). +383.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784901 ms (missed cycles : 2).[0m ×2 +383.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10338] ×2 +383.18sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +383.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +383.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +383.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +383.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +383.32sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller +383.32sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +383.46sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +383.58sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +383.59sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +383.59sINFOstreaming_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) +383.70sINFOros2_control_node[2026-06-11 16:58:52.205] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +383.70sINFOros2_control_node[2026-06-11 16:58:52.209] [info] Controller state will be published at 10 Hz. ×2 +383.70sINFOros2_control_node[2026-06-11 16:58:52.211] [info] VelocityForceController 'on_configure' succeeded. ×2 +383.76sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +383.76sINFOmove_groupMoveGroup debug mode is ON +384.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +384.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' +384.03sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +384.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +384.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544919 ms (missed cycles : 3). +384.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544919 ms (missed cycles : 3).[0m ×2 +384.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10346] ×2 +384.09sINFOmove_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
********************************************************
+384.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller +384.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +384.12sWARNcontroller_managerOverrun might occur, Total time : 2148.523 us (Expected < 1666.667 us) --> Read time : 171.229 us, Update time : 24.612 us, Write time : 1952.682 us +384.13sWARNros2_control_nodeOverrun might occur, Total time : 2148.523 us (Expected < 1666.667 us) --> Read time : 171.229 us, Update time : 24.612 us, Write time : 1952.682 us[0m ×2 +384.46sINFOros2_control_node[2026-06-11 16:58:52.966] [info] Controller state will be published at 20 Hz. ×2 +384.46sINFOros2_control_node[2026-06-11 16:58:52.967] [info] JointVelocityController 'on_configure' succeeded. ×2 +384.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +384.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +384.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +384.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +384.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 +384.92sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller +384.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +384.93sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +384.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +384.93sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +384.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +384.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +385.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). +385.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 +385.26sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +385.26sINFOcontroller_managerLoading controller 'platform_velocity_controller' +385.26sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +385.26sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +385.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 +385.32sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller +385.33sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +385.33sINFOplatform_velocity_controllerconfigure successful +385.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +385.34sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller +385.36sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us +385.36sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 +385.67sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +385.67sINFOcontroller_managerLoading controller 'velocity_force_controller' +385.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +385.67sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +385.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 +385.74sINFOspawner_velocity_force_controllerLoaded velocity_force_controller +385.74sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +386.09sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +386.10sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 +386.10sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 +386.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). +386.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 +386.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +386.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +386.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +386.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +386.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 +386.49sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us +386.49sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 +386.50sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster +386.50sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +386.51sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +386.51sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster +386.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 +386.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +386.86sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +386.86sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +386.86sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +386.93sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 +386.94sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +386.94sINFOplatform_velocity_controller_nav2configure successful +387.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). +387.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 +387.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 +387.36sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +387.62sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +387.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +387.63sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 +387.63sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 +387.65sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us +387.65sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 +387.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster +387.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +387.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +387.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +387.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +387.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +387.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster +388.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 +388.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). +388.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 +388.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 +388.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +388.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +388.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 +388.68sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us +388.68sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 +388.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 +388.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 +389.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). +389.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 +389.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 +389.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 +390.03sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us +390.04sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 +390.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 +390.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +390.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +390.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +390.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +390.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +390.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +390.34sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us +390.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). +390.34sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 +390.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 +390.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 +390.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 +390.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +390.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +390.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +391.21sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +391.24sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us +391.24sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 +391.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). +391.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 51 warnings · 708 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.01sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.07sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.08sINFOplatform_velocity_controllerconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.08sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.11sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.48sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.50sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.50sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.50sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.53sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.84sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.84sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.84sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.18sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.19sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.24sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.25sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.26sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 1.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.61sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.61sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.61sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.68sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.68sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.69sINFOplatform_velocity_controller_nav2configure successful + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.41sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.42sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.42sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.42sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.42sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.43sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 5.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 5.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 7.26sINFOjoint_trajectory_controllerReceived new action goal + 7.26sINFOjoint_trajectory_controllerAccepted new action goal + 7.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.67sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 7.67sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 48 warnings · 752 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 + 0.12sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.13sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.53sINFOplatform_velocity_controllerconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×4 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.56sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.95sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.69sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 2.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.13sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.14sINFOplatform_velocity_controller_nav2configure successful + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.87sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.88sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 7.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-16-58-33-301024-786d0e0a1ec8-10198 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 48 warnings · 749 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 + 0.12sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.13sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.53sINFOplatform_velocity_controllerconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×4 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.56sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.95sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.69sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 2.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.13sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.14sINFOplatform_velocity_controller_nav2configure successful + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.87sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.88sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 48 warnings · 749 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 + 0.12sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.13sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.53sINFOplatform_velocity_controllerconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×4 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.56sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.95sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.69sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 2.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.13sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.14sINFOplatform_velocity_controller_nav2configure successful + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.87sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.88sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 48 warnings · 749 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10348] ×2 + 0.12sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.13sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687103 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.53sINFOplatform_velocity_controllerconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×4 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.56sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.95sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.95sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.29sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.69sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 2.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.13sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.14sINFOplatform_velocity_controller_nav2configure successful + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.87sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.88sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 5.23sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 45 warnings · 702 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.01sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.01sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10342] ×2 + 0.07sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.08sINFOplatform_velocity_controllerconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.08sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us + 0.11sWARNros2_control_nodeOverrun might occur, Total time : 2808.701 us (Expected < 1666.667 us) --> Read time : 174.790 us, Update time : 54.013 us, Write time : 2579.898 us[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10336] ×2 + 0.48sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.50sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.50sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.50sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.53sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.84sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.84sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.84sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 1.18sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.19sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 1.24sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.25sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.26sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 1.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.61sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.61sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.61sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.68sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.68sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.69sINFOplatform_velocity_controller_nav2configure successful + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 2.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 2.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 2.41sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.42sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.42sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.42sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.42sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.43sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 5.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 5.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 51 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117154 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117154 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 48 warnings · 198 info |
+ 0.00sINFOros2_control_node[2026-06-11 16:58:54.601] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.604] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 16:58:54.605] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849774 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10343] ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 5504.185 us (Expected < 1666.667 us) --> Read time : 149.398 us, Update time : 5015.788 us, Write time : 338.999 us[0m ×2 + 0.40sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.42sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10333] ×2 + 0.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 0.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 0.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.85sINFOplatform_velocity_controller_nav2configure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970117 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10340] ×2 + 1.27sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 + 1.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_txg30w__ --params-file /tmp/launch_params_91wa33us --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dz10ne29 --params-file /tmp/launch_params_dpkjmry7 [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2380.026 us (Expected < 1666.667 us) --> Read time : 1334.036 us, Update time : 89.945 us, Write time : 956.045 us[0m ×2 + 1.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.58sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.58sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10334] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094506 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781197136.93439984 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781197136.94465780 seconds ×3 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4532.400 us (Expected < 1666.667 us) --> Read time : 4114.176 us, Update time : 105.786 us, Write time : 312.438 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781197137.49179173 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781197137.50213695 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721634 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781197138.04559016 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781197138.19616890 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2747.358 us (Expected < 1666.667 us) --> Read time : 167.020 us, Update time : 33.592 us, Write time : 2546.746 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781197138.78892851 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4614.585 us (Expected < 1666.667 us) --> Read time : 158.999 us, Update time : 4103.166 us (Switch time : 4030.432 us (Switch chained mode time : 0.420 us, perform mode change time : 3.620 us, Activation time : 4015.442 us, Deactivation time : 0.820 us)), Write time : 352.420 us[0m ×2 + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033485 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781197138.85908794 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781197139.39727974 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1948.952 us (Expected < 1666.667 us) --> Read time : 159.689 us, Update time : 132.008 us, Write time : 1657.255 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728781 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568866 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 2967.661 us (Expected < 1666.667 us) --> Read time : 389.872 us, Update time : 429.145 us, Write time : 2148.644 us[0m ×2 | ||||